diff --git a/.github/workflows/repo.yml b/.github/workflows/repo.yml new file mode 100644 index 0000000000..1445aa635d --- /dev/null +++ b/.github/workflows/repo.yml @@ -0,0 +1,28 @@ +name: repo + +on: + schedule: + - cron: "0 15 * * 2" + workflow_dispatch: + +jobs: + pre-commit-autoupdate: + name: pre-commit autoupdate + runs-on: ubuntu-20.04 + container: + image: ghcr.io/commaai/openpilot-base:latest + steps: + - uses: actions/checkout@v3 + - name: pre-commit autoupdate + run: | + git config --global --add safe.directory '*' + pre-commit autoupdate + - name: Create Pull Request + uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5 + with: + token: ${{ secrets.ACTIONS_CREATE_PR_PAT }} + commit-message: Update pre-commit hook versions + title: 'pre-commit: autoupdate hooks' + branch: pre-commit-updates + base: master + delete-branch: true diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index efddde720d..9d92392b3a 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -59,6 +59,8 @@ jobs: cp .pre-commit-config.yaml $STRIPPED_DIR cp .pylintrc $STRIPPED_DIR cp mypy.ini $STRIPPED_DIR + cp pyproject.toml $STRIPPED_DIR + cp poetry.lock $STRIPPED_DIR cd $STRIPPED_DIR ${{ env.RUN }} "pre-commit run --all" @@ -204,11 +206,12 @@ jobs: $UNIT_TEST selfdrive/boardd && \ $UNIT_TEST selfdrive/controls && \ $UNIT_TEST selfdrive/monitoring && \ - $UNIT_TEST selfdrive/loggerd && \ + $UNIT_TEST system/loggerd && \ $UNIT_TEST selfdrive/car && \ $UNIT_TEST selfdrive/locationd && \ + $UNIT_TEST system/ubloxd && \ selfdrive/locationd/test/_test_locationd_lib.py && \ - ./selfdrive/locationd/test/test_glonass_runner && \ + ./system/ubloxd/tests/test_glonass_runner && \ $UNIT_TEST selfdrive/athena && \ $UNIT_TEST selfdrive/thermald && \ $UNIT_TEST system/hardware/tici && \ @@ -219,7 +222,7 @@ jobs: ./common/tests/test_util && \ ./common/tests/test_swaglog && \ ./selfdrive/boardd/tests/test_boardd_usbprotocol && \ - ./selfdrive/loggerd/tests/test_logger &&\ + ./system/loggerd/tests/test_logger &&\ ./system/proclogd/tests/test_proclog && \ ./tools/replay/tests/test_replay && \ ./tools/cabana/tests/test_cabana && \ @@ -260,7 +263,7 @@ 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/.gitignore b/.gitignore index 2b283d3b11..be6629f212 100644 --- a/.gitignore +++ b/.gitignore @@ -46,9 +46,6 @@ selfdrive/mapd/default_speeds_by_region.json system/proclogd/proclogd selfdrive/ui/_ui selfdrive/test/longitudinal_maneuvers/out -selfdrive/visiond/visiond -selfdrive/sensord/_gpsd -selfdrive/sensord/_sensord system/camerad/camerad system/camerad/test/ae_gray_test selfdrive/modeld/_modeld diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 1779947ff9..43d861667d 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -4,11 +4,12 @@ repos: - id: check-hooks-apply - id: check-useless-excludes - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.1.0 + rev: v4.4.0 hooks: - id: check-ast exclude: '^(third_party)/' - id: check-json + - id: check-toml - id: check-xml - id: check-yaml - id: check-merge-conflict @@ -16,7 +17,7 @@ repos: - id: check-added-large-files args: ['--maxkb=100'] - repo: https://github.com/codespell-project/codespell - rev: v2.2.1 + rev: v2.2.4 hooks: - id: codespell exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)' @@ -33,7 +34,7 @@ repos: types: [python] exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)' - repo: https://github.com/PyCQA/flake8 - rev: 4.0.1 + rev: 6.0.0 hooks: - id: flake8 exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(selfdrive/debug/)/' @@ -79,6 +80,10 @@ repos: language: script pass_filenames: false - repo: https://github.com/python-poetry/poetry - rev: '1.2.2' + rev: '1.5.0' hooks: - id: poetry-check + - id: poetry-lock + name: validate poetry lock + args: + - --check diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot index acc0fcc784..51907b7a44 100644 --- a/Dockerfile.openpilot +++ b/Dockerfile.openpilot @@ -2,7 +2,7 @@ FROM ghcr.io/commaai/openpilot-base:latest ENV PYTHONUNBUFFERED 1 -ENV OPENPILOT_PATH /home/batman/openpilot/ +ENV OPENPILOT_PATH /home/batman/openpilot ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH} RUN mkdir -p ${OPENPILOT_PATH} @@ -23,5 +23,6 @@ COPY ./cereal ${OPENPILOT_PATH}/cereal COPY ./panda ${OPENPILOT_PATH}/panda COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive COPY ./system ${OPENPILOT_PATH}/system +COPY ./body ${OPENPILOT_PATH}/body RUN scons --cache-readonly -j$(nproc) diff --git a/Jenkinsfile b/Jenkinsfile index 30c045e419..e0e8511251 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -19,6 +19,9 @@ source ~/.bash_profile if [ -f /TICI ]; then source /etc/profile fi +if [ -f /data/openpilot/launch_env.sh ]; then + source /data/openpilot/launch_env.sh +fi ln -snf ${env.TEST_DIR} /data/pythonpath @@ -125,6 +128,21 @@ pipeline { } */ + stage('tizi-tests') { + agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } + steps { + phone_steps("tizi", [ + ["build openpilot", "cd selfdrive/manager && ./build.py"], + ["test boardd loopback", "SINGLE_PANDA=1 python selfdrive/boardd/tests/test_boardd_loopback.py"], + ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"], + ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"], + ["test camerad", "python system/camerad/test/test_camerad.py"], + ["test exposure", "python system/camerad/test/test_exposure.py"], + ["test amp", "python system/hardware/tici/tests/test_amplifier.py"], + ]) + } + } + stage('build') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } environment { @@ -136,6 +154,7 @@ pipeline { ["build openpilot", "cd selfdrive/manager && ./build.py"], ["check dirty", "release/check-dirty.sh"], ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"], + ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"], ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"], ]) } @@ -156,16 +175,17 @@ pipeline { steps { phone_steps("tici-common", [ ["build", "cd selfdrive/manager && ./build.py"], - ["test power draw", "python system/hardware/tici/test_power_draw.py"], - ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"], - ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"], - ["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"], + ["test power draw", "python system/hardware/tici/tests/test_power_draw.py"], + ["test loggerd", "python system/loggerd/tests/test_loggerd.py"], + ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"], + ["test pigeond", "python system/sensord/tests/test_pigeond.py"], ["test manager", "python selfdrive/manager/test/test_manager.py"], + ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"], ]) } } - stage('camerad-ar') { + stage('camerad') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } steps { phone_steps("tici-ar0231", [ @@ -173,12 +193,6 @@ pipeline { ["test camerad", "python system/camerad/test/test_camerad.py"], ["test exposure", "python system/camerad/test/test_exposure.py"], ]) - } - } - - stage('camerad-ox') { - agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } - steps { phone_steps("tici-ox03c10", [ ["build", "cd selfdrive/manager && ./build.py"], ["test camerad", "python system/camerad/test/test_camerad.py"], @@ -192,11 +206,11 @@ pipeline { steps { phone_steps("tici-lsmc", [ ["build", "cd selfdrive/manager && ./build.py"], - ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"], + ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"], ]) phone_steps("tici-bmx-lsm", [ ["build", "cd selfdrive/manager && ./build.py"], - ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"], + ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"], ]) } } diff --git a/README.md b/README.md index 4896d9ff72..5428ea7a95 100755 --- a/README.md +++ b/README.md @@ -42,7 +42,7 @@ To use openpilot in a car, you need four things * A supported device to run this software: a [comma three](https://comma.ai/shop/products/three). * This software. The setup procedure of the comma three allows the user to enter a URL for custom software. The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork. -* One of [the 200+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot. +* One of [the 250+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot. * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car. We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup). @@ -67,7 +67,7 @@ Documentation related to openpilot development can be found on [docs.comma.ai](h You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel. -Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/). +Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions). And [follow us on Twitter](https://twitter.com/comma_ai). @@ -108,7 +108,10 @@ Directory Structure ├── clocksd # Broadcasts current time ├── hardware # Hardware abstraction classes ├── logcatd # systemd journal as a service - └── proclogd # Logs information from /proc + ├── loggerd # Logger and uploader of car data + ├── proclogd # Logs information from /proc + ├── sensord # IMU interface code + └── ubloxd # u-blox GNSS module interface code └── selfdrive # Code needed to drive the car ├── assets # Fonts, images, and sounds for UI ├── athena # Allows communication with the app @@ -117,12 +120,10 @@ Directory Structure ├── controls # Planning and controls ├── debug # Tools to help you debug and do car ports ├── locationd # Precise localization and vehicle parameter estimation - ├── loggerd # Logger and uploader of car data ├── manager # Daemon that starts/stops all other daemons as needed ├── modeld # Driving and monitoring model runners ├── monitoring # Daemon to determine driver attention ├── navd # Turn-by-turn navigation - ├── sensord # IMU interface code ├── test # Unit tests, system tests, and a car simulator └── ui # The UI diff --git a/RELEASES.md b/RELEASES.md index 78d2e3b74b..547add8a80 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,4 +1,35 @@ -Version 0.9.1 (2023-02-23) +Version 0.9.3 (2023-06-XX) +======================== +* New driving model + +Version 0.9.2 (2023-05-22) +======================== +* New driving model + * Reduced turn diving + * Trained on a new dataset +* UI updates + * New experimental mode visualization + * Draw MPC path instead of model-predicted path +* AGNOS 7 + * Faster boot time + * Fixes rare no sounds bug + * Fixes bootsplash bug at extreme temperatures +* Buick LaCrosse 2017-19 support thanks to koch-cf! +* Chevrolet Trailblazer 2021-22 support thanks to TurboCE! +* Ford Bronco Sport 2021-22 support +* Ford Escape 2020-22 support +* Ford Explorer 2020-22 support +* Ford Kuga 2020-22 support +* Ford Maverick 2022-23 support +* Genesis GV80 2023 support thanks to JWingate80! +* Honda HR-V 2023 support thanks to AlexandreSato and galegozi! +* Kia Niro EV 2023 support thanks to JosselinLecocq! +* Lexus ES 2017-18 support +* Lincoln Aviator 2021 support +* Škoda Fabia 2022-23 support thanks to jyoung8607! + + +Version 0.9.1 (2023-02-28) ======================== * New driving model * 30% improved height estimation resulting in better driving performance for tall cars diff --git a/SConstruct b/SConstruct index 31aa6ecced..45b6fd8fdf 100644 --- a/SConstruct +++ b/SConstruct @@ -5,6 +5,10 @@ import sysconfig import platform import numpy as np +import SCons.Errors + +SCons.Warnings.warningAsException(True) + TICI = os.path.isfile('/TICI') AGNOS = TICI @@ -118,7 +122,7 @@ else: f"#third_party/libyuv/{yuv_dir}/lib", f"{brew_prefix}/lib", f"{brew_prefix}/Library", - f"{brew_prefix}/opt/openssl/lib", + f"{brew_prefix}/opt/openssl@3.0/lib", f"{brew_prefix}/Cellar", "/System/Library/Frameworks/OpenGL.framework/Libraries", ] @@ -131,7 +135,7 @@ else: cxxflags += ["-DGL_SILENCE_DEPRECATION"] cpppath += [ f"{brew_prefix}/include", - f"{brew_prefix}/opt/openssl/include", + f"{brew_prefix}/opt/openssl@3.0/include", ] # Linux 86_64 else: @@ -197,10 +201,6 @@ env = Environment( "#third_party/libyuv/include", "#third_party/json11", "#third_party/curl/include", - "#third_party/libgralloc/include", - "#third_party/android_frameworks_native/include", - "#third_party/android_hardware_libhardware/include", - "#third_party/android_system_core/include", "#third_party/linux/include", "#third_party/snpe/include", "#third_party/mapbox-gl-native-qt/include", @@ -314,8 +314,14 @@ else: qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath) elif arch != "Darwin": qt_libs += ["GL"] +qt_env['QT3DIR'] = qt_env['QTDIR'] + +# compatibility for older SCons versions +try: + qt_env.Tool('qt3') +except SCons.Errors.UserError: + qt_env.Tool('qt') -qt_env.Tool('qt') qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"] qt_flags = [ "-D_REENTRANT", @@ -399,12 +405,17 @@ SConscript(['rednose/SConscript']) # Build system services SConscript([ - 'system/camerad/SConscript', 'system/clocksd/SConscript', 'system/proclogd/SConscript', + 'system/ubloxd/SConscript', + 'system/loggerd/SConscript', ]) if arch != "Darwin": - SConscript(['system/logcatd/SConscript']) + SConscript([ + 'system/camerad/SConscript', + 'system/sensord/SConscript', + 'system/logcatd/SConscript', + ]) # Build openpilot @@ -421,25 +432,16 @@ SConscript(['third_party/SConscript']) SConscript(['common/kalman/SConscript']) SConscript(['common/transformations/SConscript']) -SConscript(['selfdrive/modeld/SConscript']) - +SConscript(['selfdrive/boardd/SConscript']) SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript']) SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript']) - -SConscript(['selfdrive/boardd/SConscript']) - -SConscript(['selfdrive/loggerd/SConscript']) - SConscript(['selfdrive/locationd/SConscript']) -SConscript(['selfdrive/sensord/SConscript']) -SConscript(['selfdrive/ui/SConscript']) SConscript(['selfdrive/navd/SConscript']) +SConscript(['selfdrive/modeld/SConscript']) +SConscript(['selfdrive/ui/SConscript']) -if arch in ['x86_64', 'Darwin'] or GetOption('extras'): +if (arch in ['x86_64', 'Darwin'] and Dir('#tools/cabana/').exists()) or GetOption('extras'): SConscript(['tools/replay/SConscript']) - - opendbc = abspath([File('opendbc/can/libdbc.so')]) - Export('opendbc') SConscript(['tools/cabana/SConscript']) external_sconscript = GetOption('external_sconscript') diff --git a/cereal b/cereal index 162a26ca2d..9b6b53396f 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 162a26ca2d7e5bc9a42bb5ea11e98194f722027b +Subproject commit 9b6b53396fff6ec7541a5415901d892e57756b91 diff --git a/common/gpio.py b/common/gpio.py index 260f8898a1..711fcff85d 100644 --- a/common/gpio.py +++ b/common/gpio.py @@ -1,4 +1,5 @@ -from typing import Optional +import glob +from typing import Optional, List def gpio_init(pin: int, output: bool) -> None: try: @@ -23,3 +24,13 @@ def gpio_read(pin: int) -> Optional[bool]: print(f"Failed to set gpio {pin} value: {e}") return val + +def get_irq_for_action(action: str) -> List[int]: + ret = [] + for fn in glob.glob('/sys/kernel/irq/*/actions'): + with open(fn) as f: + actions = f.read().strip().split(',') + if action in actions: + irq = int(fn.split('/')[-2]) + ret.append(irq) + return ret diff --git a/common/i2c.cc b/common/i2c.cc index eb10cd64bb..ef788ac9ea 100644 --- a/common/i2c.cc +++ b/common/i2c.cc @@ -15,7 +15,7 @@ #define UNUSED(x) (void)(x) #ifdef QCOM2 -// TODO: decide if we want to isntall libi2c-dev everywhere +// TODO: decide if we want to install libi2c-dev everywhere extern "C" { #include #include diff --git a/common/logging_extra.py b/common/logging_extra.py index 5baaac1f90..899ad7a391 100644 --- a/common/logging_extra.py +++ b/common/logging_extra.py @@ -153,9 +153,9 @@ class SwagLogger(logging.Logger): def bind_global(self, **kwargs): self.global_ctx.update(kwargs) - def event(self, event_name, *args, **kwargs): + def event(self, event, *args, **kwargs): evt = NiceOrderedDict() - evt['event'] = event_name + evt['event'] = event if args: evt['args'] = args evt.update(kwargs) diff --git a/common/params.cc b/common/params.cc index 5e3361a70f..bc1e414faa 100644 --- a/common/params.cc +++ b/common/params.cc @@ -92,15 +92,15 @@ std::unordered_map keys = { {"CameraDebugExpGain", CLEAR_ON_MANAGER_START}, {"CameraDebugExpTime", CLEAR_ON_MANAGER_START}, {"CarBatteryCapacity", PERSISTENT}, - {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"CarParamsCache", CLEAR_ON_MANAGER_START}, {"CarParamsPersistent", PERSISTENT}, - {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"CompletedTrainingVersion", PERSISTENT}, - {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, - {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, - {"DashcamOverride", PERSISTENT}, - {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"CurrentBootlog", PERSISTENT}, + {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"DisablePowerDown", PERSISTENT}, {"ExperimentalMode", PERSISTENT}, {"ExperimentalModeConfirmed", PERSISTENT}, @@ -111,7 +111,7 @@ std::unordered_map keys = { {"DoReboot", CLEAR_ON_MANAGER_START}, {"DoShutdown", CLEAR_ON_MANAGER_START}, {"DoUninstall", CLEAR_ON_MANAGER_START}, - {"FirmwareObdQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"ForcePowerDown", CLEAR_ON_MANAGER_START}, {"GitBranch", PERSISTENT}, {"GitCommit", PERSISTENT}, @@ -137,8 +137,8 @@ std::unordered_map keys = { {"IsTestedBranch", CLEAR_ON_MANAGER_START}, {"IsReleaseBranch", CLEAR_ON_MANAGER_START}, {"IsUpdateAvailable", CLEAR_ON_MANAGER_START}, - {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, - {"LaikadEphemeris", PERSISTENT | DONT_LOG}, + {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, + {"LaikadEphemerisV3", PERSISTENT | DONT_LOG}, {"LanguageSetting", PERSISTENT}, {"LastAthenaPingTime", CLEAR_ON_MANAGER_START}, {"LastGPSPosition", PERSISTENT}, @@ -150,29 +150,30 @@ std::unordered_map keys = { {"LiveParameters", PERSISTENT}, {"LiveTorqueCarParams", PERSISTENT}, {"LiveTorqueParameters", PERSISTENT | DONT_LOG}, - {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, - {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, + {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, + {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"NavSettingTime24h", PERSISTENT}, {"NavSettingLeftSide", PERSISTENT}, {"NavdRender", PERSISTENT}, - {"ObdMultiplexingDisabled", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"OpenpilotEnabledToggle", PERSISTENT}, - {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, + {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"PandaSignatures", CLEAR_ON_MANAGER_START}, {"Passive", PERSISTENT}, {"PrimeType", PERSISTENT}, {"RecordFront", PERSISTENT}, {"RecordFrontLock", PERSISTENT}, // for the internal fleet - {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"ShouldDoUpdate", CLEAR_ON_MANAGER_START}, - {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, + {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"SshEnabled", PERSISTENT}, {"SubscriberInfo", PERSISTENT}, {"TermsVersion", PERSISTENT}, {"Timezone", PERSISTENT}, {"TrainingVersion", PERSISTENT}, {"UbloxAvailable", PERSISTENT}, - {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"UpdateFailedCount", CLEAR_ON_MANAGER_START}, {"UpdaterState", CLEAR_ON_MANAGER_START}, {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START}, @@ -190,17 +191,18 @@ std::unordered_map keys = { {"ApiCache_NavDestinations", PERSISTENT}, {"ApiCache_Owner", PERSISTENT}, {"Offroad_BadNvme", CLEAR_ON_MANAGER_START}, - {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START}, {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START}, {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START}, {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START}, {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START}, - {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START}, {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START}, {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START}, {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START}, + {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, }; } // namespace @@ -304,14 +306,19 @@ std::map Params::readAll() { void Params::clearAll(ParamKeyType key_type) { FileLock file_lock(params_path + "/.lock"); - if (key_type == ALL) { - util::remove_files_in_dir(getParamPath()); - } else { - for (auto &[key, type] : keys) { - if (type & key_type) { - unlink(getParamPath(key).c_str()); + // 1) delete params of key_type + // 2) delete files that are not defined in the keys. + if (DIR *d = opendir(getParamPath().c_str())) { + struct dirent *de = NULL; + while ((de = readdir(d))) { + if (de->d_type != DT_DIR) { + auto it = keys.find(de->d_name); + if (it == keys.end() || (it->second & key_type)) { + unlink(getParamPath(de->d_name).c_str()); + } } } + closedir(d); } fsync_dir(getParamPath()); diff --git a/common/params.h b/common/params.h index aecb3ee471..24b1bffeb1 100644 --- a/common/params.h +++ b/common/params.h @@ -7,8 +7,8 @@ enum ParamKeyType { PERSISTENT = 0x02, CLEAR_ON_MANAGER_START = 0x04, - CLEAR_ON_IGNITION_ON = 0x08, - CLEAR_ON_IGNITION_OFF = 0x10, + CLEAR_ON_ONROAD_TRANSITION = 0x08, + CLEAR_ON_OFFROAD_TRANSITION = 0x10, DONT_LOG = 0x20, ALL = 0xFFFFFFFF }; diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx index 9d8933609f..abb3199d05 100755 --- a/common/params_pyx.pyx +++ b/common/params_pyx.pyx @@ -9,8 +9,8 @@ cdef extern from "common/params.h": cpdef enum ParamKeyType: PERSISTENT CLEAR_ON_MANAGER_START - CLEAR_ON_IGNITION_ON - CLEAR_ON_IGNITION_OFF + CLEAR_ON_ONROAD_TRANSITION + CLEAR_ON_OFFROAD_TRANSITION ALL cdef cppclass c_Params "Params": diff --git a/common/statlog.cc b/common/statlog.cc index 26945882d9..587f3e8620 100644 --- a/common/statlog.cc +++ b/common/statlog.cc @@ -5,6 +5,7 @@ #include "common/statlog.h" #include "common/util.h" +#include #include #include #include diff --git a/common/swaglog.cc b/common/swaglog.cc index 22682dc54c..54f1c3478a 100644 --- a/common/swaglog.cc +++ b/common/swaglog.cc @@ -5,6 +5,7 @@ #include "common/swaglog.h" #include +#include #include #include #include diff --git a/common/tests/test_params.py b/common/tests/test_params.py index ec13e82217..d432218c8a 100644 --- a/common/tests/test_params.py +++ b/common/tests/test_params.py @@ -1,7 +1,9 @@ +import os import threading import time import tempfile import shutil +import uuid import unittest from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking @@ -28,9 +30,16 @@ class TestParams(unittest.TestCase): self.params.put("CarParams", "test") self.params.put("DongleId", "cb38263377b873ee") assert self.params.get("CarParams") == b"test" + + undefined_param = self.params.get_param_path(uuid.uuid4().hex) + with open(undefined_param, "w") as f: + f.write("test") + assert os.path.isfile(undefined_param) + self.params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) assert self.params.get("CarParams") is None assert self.params.get("DongleId") is not None + assert not os.path.isfile(undefined_param) def test_params_two_things(self): self.params.put("DongleId", "bob") diff --git a/common/tests/test_util.cc b/common/tests/test_util.cc index b70cc9044a..25ecf09aa9 100644 --- a/common/tests/test_util.cc +++ b/common/tests/test_util.cc @@ -143,20 +143,3 @@ TEST_CASE("util::create_directories") { REQUIRE(util::create_directories("", 0755) == false); } } - -TEST_CASE("util::remove_files_in_dir") { - std::string tmp_dir = "/tmp/test_remove_all_in_dir"; - system("rm /tmp/test_remove_all_in_dir -rf"); - REQUIRE(util::create_directories(tmp_dir, 0755)); - const int tmp_file_cnt = 10; - for (int i = 0; i < tmp_file_cnt; ++i) { - std::string tmp_file = tmp_dir + "/test_XXXXXX"; - int fd = mkstemp((char*)tmp_file.c_str()); - close(fd); - REQUIRE(util::file_exists(tmp_file.c_str())); - } - - REQUIRE(util::read_files_in_dir(tmp_dir).size() == tmp_file_cnt); - util::remove_files_in_dir(tmp_dir); - REQUIRE(util::read_files_in_dir(tmp_dir).empty()); -} diff --git a/common/util.cc b/common/util.cc index 10dff6a9ea..a527adcbef 100644 --- a/common/util.cc +++ b/common/util.cc @@ -99,22 +99,6 @@ std::map read_files_in_dir(const std::string &path) { return ret; } -void remove_files_in_dir(const std::string &path) { - DIR *d = opendir(path.c_str()); - if (!d) return; - - std::string fn; - struct dirent *de = NULL; - while ((de = readdir(d))) { - if (de->d_type != DT_DIR) { - fn = path + "/" + de->d_name; - unlink(fn.c_str()); - } - } - - closedir(d); -} - int write_file(const char* path, const void* data, size_t size, int flags, mode_t mode) { int fd = HANDLE_EINTR(open(path, flags, mode)); if (fd == -1) { @@ -205,7 +189,7 @@ bool create_directories(const std::string& dir, mode_t mode) { return createDirectory(dir, mode); } -std::string getenv(const char* key, const char* default_val) { +std::string getenv(const char* key, std::string default_val) { const char* val = ::getenv(key); return val ? val : default_val; } diff --git a/common/util.h b/common/util.h index 028074384e..34721700e7 100644 --- a/common/util.h +++ b/common/util.h @@ -70,7 +70,7 @@ std::string string_format(const std::string& format, Args... args) { return std::string(buf.get(), buf.get() + size - 1); } -std::string getenv(const char* key, const char* default_val = ""); +std::string getenv(const char* key, std::string default_val = ""); int getenv(const char* key, int default_val); float getenv(const char* key, float default_val); @@ -81,7 +81,6 @@ std::string dir_name(std::string const& path); // **** file fhelpers ***** std::string read_file(const std::string& fn); std::map read_files_in_dir(const std::string& path); -void remove_files_in_dir(const std::string& path); int write_file(const char* path, const void* data, size_t size, int flags = O_WRONLY, mode_t mode = 0664); FILE* safe_fopen(const char* filename, const char* mode); diff --git a/common/version.h b/common/version.h index 7b5764785a..57d60e7f68 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.9.1" +#define COMMA_VERSION "0.9.3" diff --git a/docs/CARS.md b/docs/CARS.md index 8860299360..6ee21f3517 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -2,251 +2,266 @@ # Supported Cars -A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. +A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 237 Supported Cars +# 252 Supported Cars -|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video| +|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| -|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Acura|RDX 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Cadillac|Escalade 2017[3](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| -|Cadillac|Escalade ESV 2016[3](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| -|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| -|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| -|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| -|Chevrolet|Volt 2017-18[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| -|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| -|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| -|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| -|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| -|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| +|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Acura|RDX 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Buick|LaCrosse 2017-19[3](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 USB-C coupler
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Cadillac|Escalade 2017[3](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 USB-C coupler
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Cadillac|Escalade ESV 2016[3](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 USB-C coupler
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chevrolet|Volt 2017-18[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 USB-C coupler
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| -|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| -|Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| -|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|| -|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| -|Genesis|G90 2017-18|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| -|Genesis|GV60 (Advanced Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| -|Genesis|GV60 (Performance Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| -|Genesis|GV70 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| -|GMC|Acadia 2018[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| -|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| -|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| -|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| -|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|| -|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| -|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| -|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| -|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|| -|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| -|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|| -|Hyundai|Ioniq 5 (with HDA II) 2022-23[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|| -|Hyundai|Ioniq 5 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| -|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| -|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| -|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| -|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| -|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| -|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| -|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|| -|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|| -|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O|| -|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I|| -|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| -|Hyundai|Santa Cruz 2021-22[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| -|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|| -|Hyundai|Santa Fe 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| -|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| -|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| -|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| -|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| -|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| -|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| -|Hyundai|Tucson 2022[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| -|Hyundai|Tucson 2023[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| -|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| -|Hyundai|Tucson Hybrid 2022[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| -|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| -|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| -|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| -|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| -|Kia|EV6 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|| -|Kia|EV6 (with HDA II) 2022[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|| -|Kia|EV6 (without HDA II) 2022[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| -|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|| -|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| -|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| -|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| -|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| -|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| -|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| -|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| -|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| -|Kia|Niro Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| -|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[1](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| -|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|| -|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|| -|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|| -|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| -|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| -|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| -|Kia|Sorento 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| -|Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| -|Kia|Sportage 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| -|Kia|Sportage Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| -|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| -|Kia|Stinger 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| -|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| -|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|| -|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|| -|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B|| -|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|| -|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|| -|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|| -|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram|| -|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| -|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| -|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| -|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| -|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| -|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| -|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|| -|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|| -|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| -|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| -|Škoda|Kamiq 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| -|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| -|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Avalon 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|C-HR Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Camry 2018-20|All|Stock|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Camry 2021-22|All|openpilot|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Passat 2015-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| -|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| -|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| -|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| -|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Maverick 2022-23|Co-Pilot360 Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|G90 2017-18|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|GV60 (Advanced Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|GV60 (Performance Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|GV70 (2.5T Trim) 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|GV70 (3.5T Trim) 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|GV80 2023[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|GMC|Acadia 2018[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 USB-C coupler
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Civic 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Civic Hatchback 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|HR-V 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Passport 2019-22|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq 5 (with HDA II) 2022-23[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq 5 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai I connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Santa Cruz 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Santa Fe 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson 2022[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson 2023[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson Hybrid 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|EV6 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|EV6 (with HDA II) 2022-23[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|EV6 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[1](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sorento 2021-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sportage 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sportage Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Stinger 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lincoln|Aviator 2021|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan B connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Ram connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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[10](#footnotes)|| +|Škoda|Kamiq 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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[10](#footnotes)|| +|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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[10](#footnotes)|| +|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Camry 2018-20|All|Stock|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Camry 2021-23|All|openpilot|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat 2015-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[10](#footnotes)|| +|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[10](#footnotes)|| +|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[10](#footnotes)|| +|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[10](#footnotes)|| +|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| - +### Footnotes 1Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.
2By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
3Requires a community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
@@ -275,6 +290,7 @@ If your car has the following packages or features, then it's a good candidate f | Make | Required Package/Features | | ---- | ------------------------- | | Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. | +| Ford | Any car with Lane Centering will likely work. | | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. | | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. | | Nissan | Any car with ProPILOT will likely work. | diff --git a/docs/c_docs.rst b/docs/c_docs.rst index 77be7e51d8..5619cc8a51 100644 --- a/docs/c_docs.rst +++ b/docs/c_docs.rst @@ -83,7 +83,7 @@ common sensorsd ^^^^^^^^ .. autodoxygenindex:: - :project: selfdrive_sensord_sensors + :project: system_sensord_sensors boardd ^^^^^^ diff --git a/docs/docker/Dockerfile b/docs/docker/Dockerfile index a1cdbbeaf0..08b318a59a 100644 --- a/docs/docker/Dockerfile +++ b/docs/docker/Dockerfile @@ -11,6 +11,7 @@ WORKDIR ${OPENPILOT_PATH} COPY SConstruct ${OPENPILOT_PATH} +COPY ./body ${OPENPILOT_PATH}/body COPY ./third_party ${OPENPILOT_PATH}/third_party COPY ./site_scons ${OPENPILOT_PATH}/site_scons COPY ./laika ${OPENPILOT_PATH}/laika diff --git a/docs/overview.rst b/docs/overview.rst index cc4c582155..b9a5700528 100644 --- a/docs/overview.rst +++ b/docs/overview.rst @@ -5,7 +5,7 @@ openpilot :maxdepth: 4 Debugging - selfdrive/loggerd/README.md + system/loggerd/README.md Driver Monitoring Process Replay diff --git a/laika_repo b/laika_repo index 278b44ba8c..e932f32ab9 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 278b44ba8c2dec28adc5b30cce13dabc195f15fc +Subproject commit e932f32ab921ed09ba6e304990574693d8ca5199 diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh index 9fe9b1bd15..a91bd677aa 100755 --- a/launch_chffrplus.sh +++ b/launch_chffrplus.sh @@ -9,11 +9,6 @@ source "$BASEDIR/launch_env.sh" DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" function agnos_init { - # wait longer for weston to come up - if [ -f "$BASEDIR/prebuilt" ]; then - sleep 3 - fi - # TODO: move this to agnos sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta diff --git a/launch_env.sh b/launch_env.sh index 3059ec268e..c1ecbe3b31 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="6.2" + export AGNOS_VERSION="7.1" fi if [ -z "$PASSIVE" ]; then diff --git a/opendbc b/opendbc index 510bfc0695..8faada0494 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 510bfc06954e31257f8d8de17adf92f9a68a1b71 +Subproject commit 8faada0494c4498a57c2196e80c6da94f508d009 diff --git a/panda b/panda index 0d2ee00921..00c2689487 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 0d2ee009218009173f26c73a16aefa12dd169de8 +Subproject commit 00c26894876484d2c5a5b63a1c33c28f0f9b15dd diff --git a/poetry.lock b/poetry.lock index 91e1b5c826..91eb7e42e0 100644 --- a/poetry.lock +++ b/poetry.lock @@ -55,7 +55,7 @@ frozenlist = ">=1.1.0" name = "alabaster" version = "0.7.12" description = "A configurable sidebar-enabled Sphinx theme" -category = "dev" +category = "main" optional = false python-versions = "*" @@ -113,9 +113,12 @@ category = "dev" optional = false python-versions = "*" +[package.dependencies] +packaging = ">20.6" + [package.source] type = "url" -url = "https://github.com/commaai/apex/releases/download/pytorch1.10.0%2Bcu11.1/apex-0.1-cp38-cp38-linux_x86_64.whl" +url = "https://github.com/commaai/apex/releases/download/pytorch2.0.0%2Bcu11.8/apex-0.1-cp38-cp38-linux_x86_64.whl" [[package]] name = "appdirs" @@ -371,7 +374,7 @@ azure-nspkg = ">=2.0.0" name = "babel" version = "2.10.3" description = "Internationalization utilities" -category = "dev" +category = "main" optional = false python-versions = ">=3.6" @@ -457,6 +460,14 @@ python-versions = "*" docutils = ">=0.12" Sphinx = ">=4.0,<5.0.0 || >5.0.0,<6" +[[package]] +name = "brotli" +version = "1.0.9" +description = "Python bindings for the Brotli compression library" +category = "dev" +optional = false +python-versions = "*" + [[package]] name = "cachecontrol" version = "0.12.11" @@ -600,6 +611,17 @@ category = "dev" optional = false python-versions = ">=3.6" +[[package]] +name = "cmake" +version = "3.26.0" +description = "CMake is an open-source, cross-platform family of tools designed to build, test and package software" +category = "dev" +optional = false +python-versions = "*" + +[package.extras] +test = ["codecov (>=2.0.5)", "coverage (>=4.2)", "flake8 (>=3.0.4)", "path.py (>=11.5.0)", "pytest (>=3.0.3)", "pytest-cov (>=2.4.0)", "pytest-runner (>=2.9)", "pytest-virtualenv (>=1.7.0)", "scikit-build (>=0.10.0)", "setuptools (>=28.0.0)", "virtualenv (>=15.0.3)", "wheel"] + [[package]] name = "colorama" version = "0.4.5" @@ -716,8 +738,8 @@ ssh = ["bcrypt (>=3.1.5)"] test = ["hypothesis (>=1.11.4,!=3.79.2)", "iso8601", "pretend", "pytest (>=6.2.0)", "pytest-benchmark", "pytest-cov", "pytest-subtests", "pytest-xdist", "pytz"] [[package]] -name = "cupy-cuda113" -version = "10.6.0" +name = "cupy-cuda11x" +version = "11.6.0" description = "CuPy: NumPy & SciPy for GPU" category = "dev" optional = false @@ -725,12 +747,12 @@ python-versions = ">=3.7" [package.dependencies] fastrlock = ">=0.5" -numpy = ">=1.18,<1.25" +numpy = ">=1.20,<1.27" [package.extras] -all = ["Cython (>=0.29.22,<3)", "optuna (>=2.0)", "scipy (>=1.4,<1.11)"] +all = ["Cython (>=0.29.22,<3)", "optuna (>=2.0)", "scipy (>=1.6,<1.12)"] stylecheck = ["autopep8 (==1.5.5)", "flake8 (==3.8.4)", "mypy (==0.950)", "pbr (==5.5.1)", "pycodestyle (==2.6.0)", "types-setuptools (==57.4.14)"] -test = ["hypothesis (>=6.37.2)", "pytest (>=6.2)"] +test = ["hypothesis (>=6.37.2,<6.55.0)", "pytest (>=7.2)"] [[package]] name = "cycler" @@ -834,7 +856,7 @@ python-versions = "*" name = "docutils" version = "0.17.1" description = "Docutils -- Python Documentation Utilities" -category = "dev" +category = "main" optional = false python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*" @@ -865,7 +887,7 @@ pgp = ["gpg"] [[package]] name = "efficientnet-pytorch" -version = "0.6.3" +version = "0.7.1" description = "EfficientNet implemented in PyTorch." category = "dev" optional = false @@ -1104,6 +1126,38 @@ category = "dev" optional = false python-versions = ">=3.7" +[[package]] +name = "fsspec" +version = "2023.5.0" +description = "File-system specification" +category = "dev" +optional = false +python-versions = ">=3.8" + +[package.extras] +abfs = ["adlfs"] +adl = ["adlfs"] +arrow = ["pyarrow (>=1)"] +dask = ["dask", "distributed"] +devel = ["pytest", "pytest-cov"] +dropbox = ["dropbox", "dropboxdrivefs", "requests"] +full = ["adlfs", "aiohttp (!=4.0.0a0,!=4.0.0a1)", "dask", "distributed", "dropbox", "dropboxdrivefs", "fusepy", "gcsfs", "libarchive-c", "ocifs", "panel", "paramiko", "pyarrow (>=1)", "pygit2", "requests", "s3fs", "smbprotocol", "tqdm"] +fuse = ["fusepy"] +gcs = ["gcsfs"] +git = ["pygit2"] +github = ["requests"] +gs = ["gcsfs"] +gui = ["panel"] +hdfs = ["pyarrow (>=1)"] +http = ["aiohttp (!=4.0.0a0,!=4.0.0a1)", "requests"] +libarchive = ["libarchive-c"] +oci = ["ocifs"] +s3 = ["s3fs"] +sftp = ["paramiko"] +smb = ["smbprotocol"] +ssh = ["paramiko"] +tqdm = ["tqdm"] + [[package]] name = "ft4222" version = "1.6.0" @@ -1180,6 +1234,20 @@ monitor = ["psutil (>=5.7.0)"] recommended = ["backports.socketpair", "cffi (>=1.12.2)", "dnspython (>=1.16.0,<2.0)", "idna", "psutil (>=5.7.0)", "selectors2"] test = ["backports.socketpair", "cffi (>=1.12.2)", "contextvars (==2.4)", "coverage (>=5.0)", "coveralls (>=1.7.0)", "dnspython (>=1.16.0,<2.0)", "futures", "idna", "mock", "objgraph", "psutil (>=5.7.0)", "requests", "selectors2"] +[[package]] +name = "geventhttpclient" +version = "2.0.2" +description = "http client library for gevent" +category = "dev" +optional = false +python-versions = "*" + +[package.dependencies] +brotli = "*" +certifi = "*" +gevent = ">=0.13" +six = "*" + [[package]] name = "greenlet" version = "1.1.3.post0" @@ -1263,6 +1331,34 @@ chardet = ["chardet (>=2.2)"] genshi = ["genshi"] lxml = ["lxml"] +[[package]] +name = "huggingface-hub" +version = "0.14.1" +description = "Client library to download and publish models, datasets and other repos on the huggingface.co hub" +category = "dev" +optional = false 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python-versions = ">=3.6" @@ -3339,6 +3487,14 @@ category = "dev" optional = false python-versions = "*" +[[package]] +name = "python-rapidjson" +version = "1.10" +description = "Python wrapper around rapidjson" +category = "dev" +optional = false +python-versions = ">=3.6" + [[package]] name = "python-socketio" version = "5.7.2" @@ -3374,7 +3530,7 @@ numpy = ["numpy (>=1.6.0)"] name = "pytz" version = "2022.5" description = "World timezone definitions, modern and historical" -category = "dev" +category = "main" optional = false python-versions = "*" @@ -3662,6 +3818,27 @@ python-versions = ">=3.6" [package.dependencies] setuptools = "*" +[[package]] +name = "sconscontrib" +version = "1.0" +description = "" +category = "main" +optional = false +python-versions = ">=3.6, <4" +develop = false + +[package.dependencies] +docutils = "*" +panflute = "*" +SCons = ">=4" +sphinx = "*" + +[package.source] +type = "git" +url = "https://github.com/SCons/scons-contrib.git" +reference = "HEAD" 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PyTorch." category = "dev" optional = false -python-versions = ">=3.0.0" +python-versions = ">=3.7.0" [package.dependencies] -efficientnet-pytorch = "0.6.3" +efficientnet-pytorch = "0.7.1" +pillow = "*" pretrainedmodels = "0.7.4" -timm = "0.4.12" +timm = "0.6.12" torchvision = ">=0.5.0" +tqdm = "*" [package.extras] -test = ["pytest"] +test = ["black (==22.3.0)", "flake8 (==4.0.1)", "flake8-docstrings (==1.6.0)", "mock", "pre-commit", "pytest"] [[package]] name = "send2trash" @@ -3840,7 +4019,7 @@ python-versions = ">=3.7" name = "snowballstemmer" version = "2.2.0" description = "This package provides 29 stemmers for 28 languages generated from Snowball algorithms." -category = "dev" +category = "main" optional = false python-versions = "*" @@ -3878,7 +4057,7 @@ python-versions = ">=3.6" name = "sphinx" version = "5.3.0" description = "Python documentation generator" -category = "dev" +category = "main" optional = false python-versions = ">=3.6" @@ -3937,7 +4116,7 @@ sphinx = ">=1.2" 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types-atomicwrites = [ {file = "types-atomicwrites-1.4.5.1.tar.gz", hash = "sha256:9e9f0923ebf93524b28bcece5a23ac8c3820f39b060df29f671936d2e4bc04bc"}, @@ -8066,6 +8605,10 @@ types-requests = [ {file = "types-requests-2.28.11.2.tar.gz", hash = "sha256:fdcd7bd148139fb8eef72cf4a41ac7273872cad9e6ada14b11ff5dfdeee60ed3"}, {file = "types_requests-2.28.11.2-py3-none-any.whl", hash = "sha256:14941f8023a80b16441b3b46caffcbfce5265fd14555844d6029697824b5a2ef"}, ] +types-tabulate = [ + {file = "types-tabulate-0.8.11.tar.gz", hash = "sha256:17a5fa3b5ca453815778fc9865e8ecd0118b07b2b9faff3e2b06fe448174dd5e"}, + {file = "types_tabulate-0.8.11-py3-none-any.whl", hash = "sha256:af811268241e8fb87b63c052c87d1e329898a93191309d5d42111372232b2e0e"}, +] types-urllib3 = [ {file = "types-urllib3-1.26.25.1.tar.gz", hash = "sha256:a948584944b2412c9a74b9cf64f6c48caf8652cb88b38361316f6d15d8a184cd"}, {file = "types_urllib3-1.26.25.1-py3-none-any.whl", hash = "sha256:f6422596cc9ee5fdf68f9d547f541096a20c2dcfd587e37c804c9ea720bf5cb2"}, diff --git a/pyproject.toml b/pyproject.toml index 6b4b0bb5fa..fa03248b9b 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -29,7 +29,7 @@ libusb1 = "^3.0.0" nose = "^1.3.7" numpy = "^1.23.0" onnx = "^1.12.0" -onnxruntime-gpu = { version = "^1.11.1", platform = "linux" } +onnxruntime-gpu = { version = "^1.11.1", platform = "linux", markers = "platform_machine == 'x86_64'" } pillow = "^9.2.0" poetry = "==1.2.2" protobuf = "==3.20.1" @@ -59,13 +59,14 @@ urllib3 = "^1.26.10" utm = "^0.7.0" websocket_client = "^1.3.3" polyline = "^1.4.0" +sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"} [tool.poetry.group.dev.dependencies] av = "^9.2.0" azure-storage-blob = "~2.1" breathe = "^4.34.0" -carla = { version = "==0.9.13", platform = "linux" } +carla = { version = "==0.9.13", platform = "linux", markers = "platform_machine == 'x86_64'" } control = "^0.9.2" coverage = "^6.4.1" dictdiffer = "^0.9.0" @@ -83,7 +84,7 @@ mypy = "^0.961" myst-parser = "^0.18.0" natsort = "^8.1.0" numpy = "^1.23.0" -opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl", platform = "linux" } +opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl", platform = "linux" } pandas = "^1.4.3" parameterized = "^0.8.1" paramiko = "^2.11.0" @@ -107,6 +108,7 @@ types-certifi = "^2021.10.8" types-pycurl = "^7.45.1" types-PyYAML = "^6.0" types-requests = "^2.28.11" +types-tabulate = "^0.8.10" [tool.poetry.group.xx] @@ -116,7 +118,7 @@ optional = true aenum = "^3.1.11" aiohttp = "^3.8.1" albumentations = "^1.2.1" -apex = { url = "https://github.com/commaai/apex/releases/download/pytorch1.10.0%2Bcu11.1/apex-0.1-cp38-cp38-linux_x86_64.whl" } +apex = { url = "https://github.com/commaai/apex/releases/download/pytorch2.0.0%2Bcu11.8/apex-0.1-cp38-cp38-linux_x86_64.whl" } azure-cli-core = "^2.38.0" azure-common = "^1.1.28" azure-core = "^1.24.2" @@ -126,7 +128,7 @@ azure-storage-nspkg = "~3.1" blosc = "==1.9.2" cloudpickle = "^2.1.0" configargparse = "^1.5.3" -cupy-cuda113 = "^10.6.0" +cupy-cuda11x = "^11.6.0" datadog = "^0.44.0" dotmap = "^1.3.30" einops = "^0.5.0" @@ -162,17 +164,19 @@ redis = "^4.3.4" s2sphere = "^0.2.5" scikit-image = "^0.19.3" scikit-learn = "^1.1.1" -segmentation-models-pytorch = "==0.2.1" +segmentation-models-pytorch = "==0.3.2" simplejson = "^3.17.6" SQLAlchemy = "^1.4.39" -torch = { url = "https://download.pytorch.org/whl/cu113/torch-1.11.0%2Bcu113-cp38-cp38-linux_x86_64.whl" } +torch = { url = "https://download.pytorch.org/whl/cu118/torch-2.0.0%2Bcu118-cp38-cp38-linux_x86_64.whl" } torchsummary = "^1.5.1" -torchvision = { url = "https://download.pytorch.org/whl/cu113/torchvision-0.12.0%2Bcu113-cp38-cp38-linux_x86_64.whl" } -triton = "^1.1.1" +torchvision = { url = "https://download.pytorch.org/whl/cu118/torchvision-0.15.1%2Bcu118-cp38-cp38-linux_x86_64.whl" } +triton = "^2.0.0" Werkzeug = "^2.1.2" zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" } omegaconf = "^2.3.0" osmnx = "==1.2.2" +tritonclient = {version = "2.28.0", extras = ["http"]} +tensorrt = "^8.6.0" [build-system] diff --git a/release/check-submodules.sh b/release/check-submodules.sh index bc85a43c57..5f4e307e49 100755 --- a/release/check-submodules.sh +++ b/release/check-submodules.sh @@ -1,7 +1,7 @@ #!/bin/bash while read hash submodule ref; do - git -C $submodule fetch --depth 200 origin master + git -C $submodule fetch --depth 1000 origin master git -C $submodule branch -r --contains $hash | grep "origin/master" if [ "$?" -eq 0 ]; then echo "$submodule ok" diff --git a/release/files_common b/release/files_common index 5b310d5c80..0280d14b63 100644 --- a/release/files_common +++ b/release/files_common @@ -219,14 +219,15 @@ system/hardware/pc/__init__.py system/hardware/pc/hardware.h system/hardware/pc/hardware.py +system/ubloxd/.gitignore +system/ubloxd/SConscript +system/ubloxd/generated/* +system/ubloxd/*.h +system/ubloxd/*.cc + selfdrive/locationd/__init__.py -selfdrive/locationd/.gitignore selfdrive/locationd/SConscript -selfdrive/locationd/ubloxd.cc -selfdrive/locationd/ublox_msg.cc -selfdrive/locationd/ublox_msg.h -selfdrive/locationd/generated/* - +selfdrive/locationd/.gitignore selfdrive/locationd/laikad.py selfdrive/locationd/locationd.h selfdrive/locationd/locationd.cc @@ -253,35 +254,36 @@ system/proclogd/main.cc system/proclogd/proclog.cc system/proclogd/proclog.h -selfdrive/loggerd/.gitignore -selfdrive/loggerd/SConscript -selfdrive/loggerd/encoder/encoder.cc -selfdrive/loggerd/encoder/encoder.h -selfdrive/loggerd/encoder/v4l_encoder.cc -selfdrive/loggerd/encoder/v4l_encoder.h -selfdrive/loggerd/video_writer.cc -selfdrive/loggerd/video_writer.h -selfdrive/loggerd/logger.cc -selfdrive/loggerd/logger.h -selfdrive/loggerd/loggerd.cc -selfdrive/loggerd/loggerd.h -selfdrive/loggerd/encoderd.cc -selfdrive/loggerd/bootlog.cc -selfdrive/loggerd/encoder/ffmpeg_encoder.cc -selfdrive/loggerd/encoder/ffmpeg_encoder.h - -selfdrive/loggerd/__init__.py -selfdrive/loggerd/config.py -selfdrive/loggerd/uploader.py -selfdrive/loggerd/deleter.py -selfdrive/loggerd/xattr_cache.py - -selfdrive/sensord/SConscript -selfdrive/sensord/sensors_qcom2.cc -selfdrive/sensord/sensors/*.cc -selfdrive/sensord/sensors/*.h -selfdrive/sensord/sensord -selfdrive/sensord/pigeond.py +system/loggerd/.gitignore +system/loggerd/SConscript +system/loggerd/encoder/encoder.cc +system/loggerd/encoder/encoder.h +system/loggerd/encoder/v4l_encoder.cc +system/loggerd/encoder/v4l_encoder.h +system/loggerd/video_writer.cc +system/loggerd/video_writer.h +system/loggerd/logger.cc +system/loggerd/logger.h +system/loggerd/loggerd.cc +system/loggerd/loggerd.h +system/loggerd/encoderd.cc +system/loggerd/bootlog.cc +system/loggerd/encoder/ffmpeg_encoder.cc +system/loggerd/encoder/ffmpeg_encoder.h + +system/loggerd/__init__.py +system/loggerd/config.py +system/loggerd/uploader.py +system/loggerd/deleter.py +system/loggerd/xattr_cache.py + +system/sensord/.gitignore +system/sensord/SConscript +system/sensord/sensors_qcom2.cc +system/sensord/sensors/*.cc +system/sensord/sensors/*.h +system/sensord/sensord +system/sensord/pigeond.py selfdrive/thermald/thermald.py selfdrive/thermald/power_monitoring.py @@ -291,6 +293,7 @@ selfdrive/test/__init__.py selfdrive/test/helpers.py selfdrive/test/setup_device_ci.sh selfdrive/test/test_onroad.py +selfdrive/test/test_time_to_onroad.py selfdrive/ui/.gitignore selfdrive/ui/SConscript @@ -394,9 +397,9 @@ selfdrive/modeld/runners/run.h selfdrive/monitoring/dmonitoringd.py selfdrive/monitoring/driver_monitor.py +selfdrive/navd/.gitignore selfdrive/navd/__init__.py -selfdrive/navd/navd.py -selfdrive/navd/helpers.py +selfdrive/navd/** selfdrive/assets/.gitignore selfdrive/assets/assets.qrc @@ -409,6 +412,7 @@ selfdrive/assets/images/* selfdrive/assets/offroad/* selfdrive/assets/sounds/* selfdrive/assets/training/* +selfdrive/assets/navigation/* third_party/.gitignore third_party/SConscript @@ -465,6 +469,7 @@ body/crypto/** cereal/.gitignore cereal/__init__.py cereal/car.capnp +cereal/custom.capnp cereal/legacy.capnp cereal/log.capnp cereal/services.py @@ -474,6 +479,10 @@ cereal/logger/logger.h cereal/messaging/.gitignore cereal/messaging/__init__.py cereal/messaging/bridge.cc +cereal/messaging/event.cc +cereal/messaging/event.h +cereal/messaging/impl_fake.cc +cereal/messaging/impl_fake.h cereal/messaging/impl_msgq.cc cereal/messaging/impl_msgq.h cereal/messaging/impl_zmq.cc @@ -577,13 +586,14 @@ opendbc/tesla_can.dbc opendbc/tesla_radar.dbc opendbc/tesla_powertrain.dbc -tinygrad_repo/accel/opencl/* -tinygrad_repo/tinygrad/llops/ops_opencl.py tinygrad_repo/openpilot/compile.py tinygrad_repo/extra/onnx.py +tinygrad_repo/extra/onnx_ops.py tinygrad_repo/extra/thneed.py tinygrad_repo/extra/utils.py -tinygrad_repo/tinygrad/llops/ops_gpu.py -tinygrad_repo/tinygrad/shape/* +tinygrad_repo/tinygrad/codegen/ast.py +tinygrad_repo/tinygrad/codegen/gpu.py tinygrad_repo/tinygrad/nn/* +tinygrad_repo/tinygrad/runtime/ops_gpu.py +tinygrad_repo/tinygrad/shape/* tinygrad_repo/tinygrad/*.py diff --git a/release/files_tici b/release/files_tici index c8abd720d5..892b7cd2f4 100644 --- a/release/files_tici +++ b/release/files_tici @@ -4,16 +4,13 @@ third_party/mapbox-gl-native-qt/include/* system/timezoned.py -selfdrive/assets/navigation/* -selfdrive/assets/training_wide/* - system/camerad/cameras/camera_qcom2.cc system/camerad/cameras/camera_qcom2.h system/camerad/cameras/camera_util.cc system/camerad/cameras/camera_util.h system/camerad/cameras/real_debayer.cl -selfdrive/sensord/rawgps/* +system/sensord/rawgps/* selfdrive/ui/qt/spinner_larch64 selfdrive/ui/qt/text_larch64 diff --git a/selfdrive/assets/compress-images.sh b/selfdrive/assets/compress-images.sh index 8601b2d61b..a1a4f8bb40 100755 --- a/selfdrive/assets/compress-images.sh +++ b/selfdrive/assets/compress-images.sh @@ -1,7 +1,7 @@ #!/bin/bash echo "compressing training guide images" -optipng -o7 -strip all training/* training_wide/* +optipng -o7 -strip all training/* # This can sometimes provide smaller images -# mogrify -quality 100 -format jpg training_wide/* training/* +# mogrify -quality 100 -format jpg training/* diff --git a/selfdrive/assets/img_driver_face.png b/selfdrive/assets/img_driver_face.png index 03765a0376..e2d943e537 100644 Binary files a/selfdrive/assets/img_driver_face.png and b/selfdrive/assets/img_driver_face.png differ diff --git a/selfdrive/assets/img_driver_face_static.png b/selfdrive/assets/img_driver_face_static.png new file mode 100644 index 0000000000..d8bc5f1371 Binary files /dev/null and b/selfdrive/assets/img_driver_face_static.png differ diff --git a/selfdrive/assets/training/step0.png b/selfdrive/assets/training/step0.png index b942703b5d..3c2c5c72a0 100644 Binary files a/selfdrive/assets/training/step0.png and b/selfdrive/assets/training/step0.png differ diff --git a/selfdrive/assets/training/step1.png b/selfdrive/assets/training/step1.png index e2c9f9f60e..0857893118 100644 Binary files a/selfdrive/assets/training/step1.png and b/selfdrive/assets/training/step1.png differ diff --git a/selfdrive/assets/training/step10.png b/selfdrive/assets/training/step10.png index c5ed8fd624..2941316d17 100644 Binary files a/selfdrive/assets/training/step10.png and b/selfdrive/assets/training/step10.png differ diff --git a/selfdrive/assets/training/step11.png b/selfdrive/assets/training/step11.png index 4776593922..7a7c72e3df 100644 Binary files a/selfdrive/assets/training/step11.png and 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index d1cc4cea83..8e335c2b58 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -36,8 +36,8 @@ from common.file_helpers import CallbackReader from common.params import Params from common.realtime import sec_since_boot, set_core_affinity from system.hardware import HARDWARE, PC, AGNOS -from selfdrive.loggerd.config import ROOT -from selfdrive.loggerd.xattr_cache import getxattr, setxattr +from system.loggerd.config import ROOT +from system.loggerd.xattr_cache import getxattr, setxattr from selfdrive.statsd import STATS_DIR from system.swaglog import SWAGLOG_DIR, cloudlog from system.version import get_commit, get_origin, get_short_branch, get_version @@ -517,6 +517,11 @@ def getSshAuthorizedKeys() -> str: return Params().get("GithubSshKeys", encoding='utf8') or '' +@dispatcher.add_method +def getGithubUsername() -> str: + return Params().get("GithubUsername", encoding='utf8') or '' + + @dispatcher.add_method def getSimInfo(): return HARDWARE.get_sim_info() diff --git a/selfdrive/athena/tests/helpers.py b/selfdrive/athena/tests/helpers.py index a43527c260..247aedd67a 100644 --- a/selfdrive/athena/tests/helpers.py +++ b/selfdrive/athena/tests/helpers.py @@ -53,6 +53,7 @@ class MockParams(): default_params = { "DongleId": b"0000000000000000", "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501 + "GithubUsername": b"commaci", "GsmMetered": True, "AthenadUploadQueue": '[]', } diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index 128fde0319..948fcc07a5 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -377,6 +377,10 @@ class TestAthenadMethods(unittest.TestCase): keys = dispatcher["getSshAuthorizedKeys"]() self.assertEqual(keys, MockParams().params["GithubSshKeys"].decode('utf-8')) + def test_getGithubUsername(self): + keys = dispatcher["getGithubUsername"]() + self.assertEqual(keys, MockParams().params["GithubUsername"].decode('utf-8')) + def test_getVersion(self): resp = dispatcher["getVersion"]() keys = ["version", "remote", "branch", "commit"] diff --git a/selfdrive/boardd/SConscript b/selfdrive/boardd/SConscript index d99e67a9f0..2fe4591484 100644 --- a/selfdrive/boardd/SConscript +++ b/selfdrive/boardd/SConscript @@ -1,9 +1,11 @@ Import('env', 'envCython', 'common', 'cereal', 'messaging') libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'] -env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc', 'panda_comms.cc', 'spi.cc'], LIBS=libs) +panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc']) + +env.Program('boardd', ['main.cc', 'boardd.cc'], LIBS=[panda] + libs) env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc']) envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) if GetOption('test'): - env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc', 'panda.cc', 'panda_comms.cc', 'spi.cc'], LIBS=libs) + env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc'], LIBS=[panda] + libs) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 5d885c2c79..6f293d1c0d 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -113,32 +113,35 @@ bool safety_setter_thread(std::vector pandas) { return false; } - // set to ELM327 for fingerprinting + // initialize to ELM327 without OBD multiplexing for fingerprinting + bool obd_multiplexing_enabled = false; for (int i = 0; i < pandas.size(); i++) { - const uint16_t safety_param = (i > 0) ? 1U : 0U; - pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param); + pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U); } - // wait for FW query at OBD port to finish + // openpilot can switch between multiplexing modes for different FW queries while (true) { if (do_exit || !check_all_connected(pandas) || !ignition) { return false; } - if (p.getBool("FirmwareObdQueryDone")) { - LOGW("finished FW query at OBD port"); + bool obd_multiplexing_requested = p.getBool("ObdMultiplexingEnabled"); + if (obd_multiplexing_requested != obd_multiplexing_enabled) { + for (int i = 0; i < pandas.size(); i++) { + const uint16_t safety_param = (i > 0 || !obd_multiplexing_requested) ? 1U : 0U; + pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param); + } + obd_multiplexing_enabled = obd_multiplexing_requested; + p.putBool("ObdMultiplexingChanged", true); + } + + if (p.getBool("FirmwareQueryDone")) { + LOGW("finished FW query"); break; } util::sleep_for(20); } - // set to ELM327 to finish fingerprinting and for potential ECU knockouts - for (Panda *panda : pandas) { - panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U); - } - - p.putBool("ObdMultiplexingDisabled", true); - std::string params; LOGW("waiting for params to set safety model"); while (true) { @@ -229,6 +232,8 @@ void can_send_thread(std::vector pandas, bool fake_send) { panda->can_send(event.getSendcan()); LOGT("sendcan sent to panda: %s", (panda->hw_serial()).c_str()); } + } else { + LOGE("sendcan too old to send: %llu, %llu", nanos_since_boot(), event.getLogMonoTime()); } } } @@ -360,6 +365,8 @@ std::optional send_panda_states(PubMaster *pm, const std::vector } auto ps = pss[i]; + ps.setVoltage(health.voltage_pkt); + ps.setCurrent(health.current_pkt); ps.setUptime(health.uptime_pkt); ps.setSafetyTxBlocked(health.safety_tx_blocked_pkt); ps.setSafetyRxInvalid(health.safety_rx_invalid_pkt); @@ -380,7 +387,11 @@ std::optional send_panda_states(PubMaster *pm, const std::vector ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt)); ps.setInterruptLoad(health.interrupt_load); ps.setFanPower(health.fan_power); + ps.setFanStallCount(health.fan_stall_count); ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid)); + ps.setSpiChecksumErrorCount(health.spi_checksum_error_count); + ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f); + ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f); std::array cs = {ps.initCanState0(), ps.initCanState1(), ps.initCanState2()}; @@ -415,7 +426,7 @@ 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::HEARTBEAT_LOOP_WATCHDOG); f++) { if (fault_bits.test(f)) { faults.set(j, cereal::PandaState::FaultType(f)); j++; @@ -457,9 +468,15 @@ void panda_state_thread(PubMaster *pm, std::vector pandas, bool spoofin SubMaster sm({"controlsState"}); Panda *peripheral_panda = pandas[0]; - bool ignition_last = false; + bool is_onroad = false; + bool is_onroad_last = false; std::future safety_future; + std::vector connected_serials; + for (Panda *p : pandas) { + connected_serials.push_back(p->hw_serial()); + } + LOGD("start panda state thread"); // run at 2hz @@ -476,27 +493,45 @@ void panda_state_thread(PubMaster *pm, std::vector pandas, bool spoofin ignition = *ignition_opt; - // TODO: make this check fast, currently takes 16ms - // check if we have new pandas and are offroad - if (!ignition && (pandas.size() != Panda::list().size())) { - LOGW("Reconnecting to changed amount of pandas!"); - do_exit = true; - break; + // check if we should have pandad reconnect + if (!ignition) { + bool comms_healthy = true; + for (const auto &panda : pandas) { + comms_healthy &= panda->comms_healthy(); + } + + if (!comms_healthy) { + LOGE("Reconnecting, communication to pandas not healthy"); + do_exit = true; + + } else { + // check for new pandas + for (std::string &s : Panda::list(true)) { + if (!std::count(connected_serials.begin(), connected_serials.end(), s)) { + LOGW("Reconnecting to new panda: %s", s.c_str()); + do_exit = true; + break; + } + } + } + + if (do_exit) { + break; + } } - // clear ignition-based params and set new safety on car start - if (ignition && !ignition_last) { - params.clearAll(CLEAR_ON_IGNITION_ON); + is_onroad = params.getBool("IsOnroad"); + + // set new safety on onroad transition, after params are cleared + if (is_onroad && !is_onroad_last) { if (!safety_future.valid() || safety_future.wait_for(0ms) == std::future_status::ready) { safety_future = std::async(std::launch::async, safety_setter_thread, pandas); } else { LOGW("Safety setter thread already running"); } - } else if (!ignition && ignition_last) { - params.clearAll(CLEAR_ON_IGNITION_OFF); } - ignition_last = ignition; + is_onroad_last = is_onroad; sm.update(0); const bool engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled(); diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 647a0d9c78..72c3ea36ca 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -13,17 +13,16 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) { // try USB first, then SPI try { handle = std::make_unique(serial); + LOGW("conntected to %s over USB", serial.c_str()); } catch (std::exception &e) { #ifndef __APPLE__ handle = std::make_unique(serial); + LOGW("conntected to %s over SPI", serial.c_str()); #endif } hw_type = get_hw_type(); - assert((hw_type != cereal::PandaState::PandaType::WHITE_PANDA) && - (hw_type != cereal::PandaState::PandaType::GREY_PANDA)); - has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) || (hw_type == cereal::PandaState::PandaType::DOS) || (hw_type == cereal::PandaState::PandaType::TRES); @@ -45,13 +44,15 @@ std::string Panda::hw_serial() { return handle->hw_serial; } -std::vector Panda::list() { +std::vector Panda::list(bool usb_only) { std::vector serials = PandaUsbHandle::list(); #ifndef __APPLE__ - for (auto s : PandaSpiHandle::list()) { - if (std::find(serials.begin(), serials.end(), s) == serials.end()) { - serials.push_back(s); + if (!usb_only) { + for (auto s : PandaSpiHandle::list()) { + if (std::find(serials.begin(), serials.end(), s) == serials.end()) { + serials.push_back(s); + } } } #endif @@ -203,7 +204,7 @@ void Panda::pack_can_buffer(const capnp::List::Reader &can_data assert(can_data.size() <= 64); assert(can_data.size() == dlc_to_len[data_len_code]); - can_header header; + can_header header = {}; header.addr = cmsg.getAddress(); header.extended = (cmsg.getAddress() >= 0x800) ? 1 : 0; header.data_len_code = data_len_code; diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h index 69df2e2b66..ea93229725 100644 --- a/selfdrive/boardd/panda.h +++ b/selfdrive/boardd/panda.h @@ -57,7 +57,7 @@ public: std::string hw_serial(); // Static functions - static std::vector list(); + static std::vector list(bool usb_only=false); // Panda functionality cereal::PandaState::PandaType get_hw_type(); diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/boardd/panda_comms.h index 506b96b372..b07aec509e 100644 --- a/selfdrive/boardd/panda_comms.h +++ b/selfdrive/boardd/panda_comms.h @@ -1,8 +1,9 @@ #pragma once -#include #include #include +#include +#include #include #ifndef __APPLE__ @@ -73,9 +74,9 @@ private: uint8_t rx_buf[SPI_BUF_SIZE]; inline static std::recursive_mutex hw_lock; - int wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack); - int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len); - int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len); - int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len); + int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout); + int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout); + int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout); + int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout); }; #endif diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index f61d9ee1a6..859a30a1bc 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -7,7 +7,7 @@ import subprocess from typing import List, NoReturn from functools import cmp_to_key -from panda import Panda, PandaDFU +from panda import Panda, PandaDFU, FW_PATH from common.basedir import BASEDIR from common.params import Params from system.hardware import HARDWARE @@ -16,7 +16,8 @@ from system.swaglog import cloudlog def get_expected_signature(panda: Panda) -> bytes: try: - return Panda.get_signature_from_firmware(panda.get_mcu_type().config.app_path) + fn = os.path.join(FW_PATH, panda.get_mcu_type().config.app_fn) + return Panda.get_signature_from_firmware(fn) except Exception: cloudlog.exception("Error computing expected signature") return b"" @@ -26,7 +27,7 @@ def flash_panda(panda_serial: str) -> Panda: panda = Panda(panda_serial) fw_signature = get_expected_signature(panda) - internal_panda = panda.is_internal() and not panda.bootstub + internal_panda = panda.is_internal() panda_version = "bootstub" if panda.bootstub else panda.get_version() panda_signature = b"" if panda.bootstub else panda.get_signature() @@ -39,7 +40,7 @@ def flash_panda(panda_serial: str) -> Panda: if panda.bootstub: bootstub_version = panda.get_version() - cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. Bootstub version: {bootstub_version}") + cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. {bootstub_version=}, {internal_panda=}") if internal_panda: HARDWARE.recover_internal_panda() panda.recover(reset=(not internal_panda)) @@ -76,23 +77,28 @@ def panda_sort_cmp(a: Panda, b: Panda): def main() -> NoReturn: + count = 0 first_run = True params = Params() while True: try: + count += 1 + cloudlog.event("pandad.flash_and_connect", count=count) params.remove("PandaSignatures") # Flash all Pandas in DFU mode - for p in PandaDFU.list(): - cloudlog.info(f"Panda in DFU mode found, flashing recovery {p}") - PandaDFU(p).recover() - time.sleep(1) + dfu_serials = PandaDFU.list() + if len(dfu_serials) > 0: + for serial in dfu_serials: + cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}") + PandaDFU(serial).recover() + time.sleep(1) panda_serials = Panda.list() if len(panda_serials) == 0: if first_run: - cloudlog.info("Resetting internal panda") + cloudlog.info("No pandas found, resetting internal panda") HARDWARE.reset_internal_panda() time.sleep(2) # wait to come back up continue @@ -104,8 +110,23 @@ def main() -> NoReturn: for serial in panda_serials: pandas.append(flash_panda(serial)) - # check health for lost heartbeat + # Ensure internal panda is present if expected + internal_pandas = [panda for panda in pandas if panda.is_internal()] + if HARDWARE.has_internal_panda() and len(internal_pandas) == 0: + cloudlog.error("Internal panda is missing, resetting") + HARDWARE.reset_internal_panda() + time.sleep(2) # wait to come back up + continue + + # sort pandas to have deterministic order + pandas.sort(key=cmp_to_key(panda_sort_cmp)) + panda_serials = list(map(lambda p: p.get_usb_serial(), pandas)) # type: ignore + + # log panda fw versions + params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas)) + for panda in pandas: + # check health for lost heartbeat health = panda.health() if health["heartbeat_lost"]: params.put_bool("PandaHeartbeatLost", True) @@ -113,22 +134,21 @@ def main() -> NoReturn: if first_run: cloudlog.info(f"Resetting panda {panda.get_usb_serial()}") - panda.reset() + if panda.is_internal(): + HARDWARE.reset_internal_panda() + else: + panda.reset(reconnect=False) - # sort pandas to have deterministic order - pandas.sort(key=cmp_to_key(panda_sort_cmp)) - panda_serials = list(map(lambda p: p.get_usb_serial(), pandas)) # type: ignore - - # log panda fw versions - params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas)) - - # close all pandas for p in pandas: p.close() + # TODO: wrap all panda exceptions in a base panda exception except (usb1.USBErrorNoDevice, usb1.USBErrorPipe): # a panda was disconnected while setting everything up. let's try again cloudlog.exception("Panda USB exception while setting up") continue + except Exception: + cloudlog.exception("pandad.uncaught_exception") + continue first_run = False diff --git a/selfdrive/boardd/set_time.py b/selfdrive/boardd/set_time.py index 7d17be4de9..2159eba5eb 100755 --- a/selfdrive/boardd/set_time.py +++ b/selfdrive/boardd/set_time.py @@ -1,11 +1,9 @@ #!/usr/bin/env python3 -import datetime import os -import struct -import usb1 +import datetime +from panda import Panda -REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE -MIN_DATE = datetime.datetime(year=2021, month=4, day=1) +MIN_DATE = datetime.datetime(year=2023, month=4, day=1) def set_time(logger): sys_time = datetime.datetime.today() @@ -14,24 +12,27 @@ def set_time(logger): return try: - ctx = usb1.USBContext() - dev = ctx.openByVendorIDAndProductID(0xbbaa, 0xddcc) - if dev is None: - logger.info("No panda found") + ps = Panda.list() + if len(ps) == 0: + logger.error("Failed to set time, no pandas found") return - # Set system time from panda RTC time - dat = dev.controlRead(REQUEST_IN, 0xa0, 0, 0, 8) - a = struct.unpack("HBBBBBB", dat) - panda_time = datetime.datetime(a[0], a[1], a[2], a[4], a[5], a[6]) - if panda_time > MIN_DATE: - logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'") - os.system(f"TZ=UTC date -s '{panda_time}'") + for s in ps: + with Panda(serial=s) as p: + if not p.is_internal(): + continue + + # Set system time from panda RTC time + panda_time = p.get_datetime() + if panda_time > MIN_DATE: + logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'") + os.system(f"TZ=UTC date -s '{panda_time}'") + break except Exception: - logger.warn("Failed to fetch time from panda") + logger.exception("Failed to fetch time from panda") if __name__ == "__main__": import logging - logging.basicConfig(level=logging.INFO) + logging.basicConfig(level=logging.DEBUG) set_time(logging) diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc index 9a10e30f95..fe237d5f27 100644 --- a/selfdrive/boardd/spi.cc +++ b/selfdrive/boardd/spi.cc @@ -22,6 +22,12 @@ #define SPI_NACK 0x1FU #define SPI_CHECKSUM_START 0xABU + +enum SpiError { + NACK = -2, + ACK_TIMEOUT = -3, +}; + struct __attribute__((packed)) spi_header { uint8_t sync; uint8_t endpoint; @@ -29,8 +35,7 @@ struct __attribute__((packed)) spi_header { uint16_t max_rx_len; }; -const int SPI_MAX_RETRIES = 5; -const int SPI_ACK_TIMEOUT = 50; // milliseconds +const unsigned int SPI_ACK_TIMEOUT = 500; // milliseconds const std::string SPI_DEVICE = "/dev/spidev0.0"; class LockEx { @@ -41,8 +46,8 @@ public: }; ~LockEx() { - m.unlock(); flock(fd, LOCK_UN); + m.unlock(); } private: @@ -57,9 +62,12 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) { uint8_t uid[uid_len] = {0}; uint32_t spi_mode = SPI_MODE_0; - uint32_t spi_speed = 30000000; uint8_t spi_bits_per_word = 8; + // 50MHz is the max of the 845. note that some older + // revs of the comma three may not support this speed + uint32_t spi_speed = 50000000; + spi_fd = open(SPI_DEVICE.c_str(), O_RDWR); if (spi_fd < 0) { LOGE("failed opening SPI device %d", spi_fd); @@ -86,7 +94,7 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) { } // get hw UID/serial - ret = control_read(0xc3, 0, 0, uid, uid_len); + ret = control_read(0xc3, 0, 0, uid, uid_len, 100); if (ret == uid_len) { std::stringstream stream; for (int i = 0; i < uid_len; i++) { @@ -124,37 +132,33 @@ void PandaSpiHandle::cleanup() { int PandaSpiHandle::control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout) { - LockEx lock(spi_fd, hw_lock); ControlPacket_t packet = { .request = request, .param1 = param1, .param2 = param2, .length = 0 }; - return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), NULL, 0); + return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), NULL, 0, timeout); } int PandaSpiHandle::control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout) { - LockEx lock(spi_fd, hw_lock); ControlPacket_t packet = { .request = request, .param1 = param1, .param2 = param2, .length = length }; - return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), data, length); + return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), data, length, timeout); } int PandaSpiHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { - LockEx lock(spi_fd, hw_lock); - return bulk_transfer(endpoint, data, length, NULL, 0); + return bulk_transfer(endpoint, data, length, NULL, 0, timeout); } int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { - LockEx lock(spi_fd, hw_lock); - return bulk_transfer(endpoint, NULL, 0, data, length); + return bulk_transfer(endpoint, NULL, 0, data, length, timeout); } -int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len) { +int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout) { const int xfer_size = 0x40 * 15; int ret = 0; @@ -163,16 +167,16 @@ int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t t int d; if (tx_data != NULL) { int len = std::min(xfer_size, tx_len - (xfer_size * i)); - d = spi_transfer_retry(endpoint, tx_data + (xfer_size * i), len, NULL, 0); + d = spi_transfer_retry(endpoint, tx_data + (xfer_size * i), len, NULL, 0, timeout); } else { uint16_t to_read = std::min(xfer_size, rx_len - ret); - d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), to_read); + d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), to_read, timeout); } if (d < 0) { LOGE("SPI: bulk transfer failed with %d", d); comms_healthy = false; - return -1; + return d; } ret += d; @@ -210,21 +214,43 @@ bool check_checksum(uint8_t *data, int data_len) { } -int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) { +int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout) { int ret; - - int count = SPI_MAX_RETRIES; + int count = 0; + bool timed_out = false; + double start_time = millis_since_boot(); do { - // TODO: handle error - ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len); - count--; - } while (ret < 0 && connected && count > 0); + ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len, timeout); + + if (ret < 0) { + timed_out = (timeout != 0) && (count > 5); + count += ret == SpiError::ACK_TIMEOUT; + std::this_thread::yield(); + } + } while (ret < 0 && connected && !timed_out); + + if (ret < 0) { + LOGE("transfer failed, after %d tries, %.2fms", count, millis_since_boot() - start_time); + } return ret; } -int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) { +int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout) { double start_millis = millis_since_boot(); + if (timeout == 0) { + timeout = SPI_ACK_TIMEOUT; + } + timeout = std::clamp(timeout, 100U, SPI_ACK_TIMEOUT); + + spi_ioc_transfer transfer = { + .tx_buf = (uint64_t)tx_buf, + .rx_buf = (uint64_t)rx_buf, + .delay_usecs = 5, + .len = 1 + }; + tx_buf[0] = tx; + while (true) { int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); if (ret < 0) { @@ -235,23 +261,24 @@ int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) { if (rx_buf[0] == ack) { break; } else if (rx_buf[0] == SPI_NACK) { - LOGW("SPI: got NACK"); - return -1; + LOGD("SPI: got NACK"); + return SpiError::NACK; } // handle timeout - if (millis_since_boot() - start_millis > SPI_ACK_TIMEOUT) { + if (millis_since_boot() - start_millis > timeout) { LOGD("SPI: timed out waiting for ACK"); - return -1; + return SpiError::ACK_TIMEOUT; } } return 0; } -int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) { +int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout) { int ret; uint16_t rx_data_len; + LockEx lock(spi_fd, hw_lock); // needs to be less, since we need to have space for the checksum assert(tx_len < SPI_BUF_SIZE); @@ -280,9 +307,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx } // Wait for (N)ACK - tx_buf[0] = 0x12; - transfer.len = 1; - ret = wait_for_ack(transfer, SPI_HACK); + ret = wait_for_ack(SPI_HACK, 0x11, timeout); if (ret < 0) { goto transfer_fail; } @@ -300,9 +325,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx } // Wait for (N)ACK - tx_buf[0] = 0xab; - transfer.len = 1; - ret = wait_for_ack(transfer, SPI_DACK); + ret = wait_for_ack(SPI_DACK, 0x13, timeout); if (ret < 0) { goto transfer_fail; } diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py index b8ebbd88a3..d0504d6bf2 100755 --- a/selfdrive/boardd/tests/test_boardd_loopback.py +++ b/selfdrive/boardd/tests/test_boardd_loopback.py @@ -1,12 +1,14 @@ #!/usr/bin/env python3 import os +import copy import random import time import unittest from collections import defaultdict +from pprint import pprint import cereal.messaging as messaging -from cereal import car +from cereal import car, log from common.params import Params from common.spinner import Spinner from common.timeout import Timeout @@ -31,42 +33,46 @@ class TestBoardd(unittest.TestCase): @phone_only @with_processes(['pandad']) def test_loopback(self): - # wait for boardd to init - time.sleep(2) + params = Params() + params.put_bool("IsOnroad", False) with Timeout(60, "boardd didn't start"): sm = messaging.SubMaster(['pandaStates']) - while sm.rcv_frame['pandaStates'] < 1 and len(sm['pandaStates']) == 0: + while sm.rcv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \ + any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']): sm.update(1000) num_pandas = len(sm['pandaStates']) - if TICI: - self.assertGreater(num_pandas, 1, "connect another panda for multipanda tests") + expected_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1 + self.assertEqual(num_pandas, expected_pandas, "connected pandas ({num_pandas}) doesn't match expected panda count ({expected_pandas}). \ + connect another panda for multipanda tests.") - # boardd blocks on CarVin and CarParams + # boardd safety setting relies on these params cp = car.CarParams.new_message() safety_config = car.CarParams.SafetyConfig.new_message() safety_config.safetyModel = car.CarParams.SafetyModel.allOutput cp.safetyConfigs = [safety_config]*num_pandas - params = Params() - params.put_bool("FirmwareObdQueryDone", True) + params.put_bool("IsOnroad", True) + params.put_bool("FirmwareQueryDone", True) params.put_bool("ControlsReady", True) params.put("CarParams", cp.to_bytes()) sendcan = messaging.pub_sock('sendcan') can = messaging.sub_sock('can', conflate=False, timeout=100) - time.sleep(0.2) + sm = messaging.SubMaster(['pandaStates']) + time.sleep(0.5) n = 200 for i in range(n): + print(f"boardd loopback {i}/{n}") self.spinner.update(f"boardd loopback {i}/{n}") sent_msgs = defaultdict(set) - for _ in range(random.randrange(10)): + for _ in range(random.randrange(20, 100)): to_send = [] - for __ in range(random.randrange(100)): + for __ in range(random.randrange(20)): bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3]) addr = random.randrange(1, 1<<29) dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9))) @@ -74,21 +80,29 @@ class TestBoardd(unittest.TestCase): to_send.append(make_can_msg(addr, dat, bus)) sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan')) - for _ in range(100 * 2): + sent_loopback = copy.deepcopy(sent_msgs) + sent_loopback.update({k+128: copy.deepcopy(v) for k, v in sent_msgs.items()}) + sent_total = {k: len(v) for k, v in sent_loopback.items()} + for _ in range(100 * 5): + sm.update(0) recvd = messaging.drain_sock(can, wait_for_one=True) for msg in recvd: for m in msg.can: - if m.src >= 128: - key = (m.address, m.dat) - assert key in sent_msgs[m.src-128], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}" - sent_msgs[m.src-128].discard(key) + key = (m.address, m.dat) + assert key in sent_loopback[m.src], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}" + sent_loopback[m.src].discard(key) - if all(len(v) == 0 for v in sent_msgs.values()): + if all(len(v) == 0 for v in sent_loopback.values()): break # if a set isn't empty, messages got dropped - for bus in sent_msgs.keys(): - assert not len(sent_msgs[bus]), f"loop {i}: bus {bus} missing {len(sent_msgs[bus])} messages" + pprint(sent_msgs) + pprint(sent_loopback) + print({k: len(x) for k, x in sent_loopback.items()}) + print(sum([len(x) for x in sent_loopback.values()])) + pprint(sm['pandaStates']) # may drop messages due to RX buffer overflow + for bus in sent_loopback.keys(): + assert not len(sent_loopback[bus]), f"loop {i}: bus {bus} missing {len(sent_loopback[bus])} out of {sent_total[bus]} messages" if __name__ == "__main__": diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py new file mode 100755 index 0000000000..50d24f4fe3 --- /dev/null +++ b/selfdrive/boardd/tests/test_pandad.py @@ -0,0 +1,75 @@ +#!/usr/bin/env python3 +import time +import unittest + +import cereal.messaging as messaging +from cereal import log +from common.gpio import gpio_set, gpio_init +from panda import Panda +from selfdrive.test.helpers import phone_only +from selfdrive.manager.process_config import managed_processes +from system.hardware import HARDWARE +from system.hardware.tici.pins import GPIO + + +class TestPandad(unittest.TestCase): + + def tearDown(self): + managed_processes['pandad'].stop() + + def _wait_for_boardd(self, timeout=30): + sm = messaging.SubMaster(['peripheralState']) + for _ in range(timeout): + sm.update(1000) + if sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown: + break + + if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown: + raise Exception("boardd failed to start") + + @phone_only + def test_in_dfu(self): + HARDWARE.recover_internal_panda() + time.sleep(1) + + managed_processes['pandad'].start() + self._wait_for_boardd(60) + + @phone_only + def test_in_bootstub(self): + with Panda() as p: + p.reset(enter_bootstub=True) + assert p.bootstub + managed_processes['pandad'].start() + self._wait_for_boardd() + + @phone_only + def test_internal_panda_reset(self): + gpio_init(GPIO.STM_RST_N, True) + gpio_set(GPIO.STM_RST_N, 1) + time.sleep(0.5) + assert all(not Panda(s).is_internal() for s in Panda.list()) + + managed_processes['pandad'].start() + self._wait_for_boardd() + + assert any(Panda(s).is_internal() for s in Panda.list()) + + @phone_only + def test_best_case_startup_time(self): + # run once so we're setup + managed_processes['pandad'].start() + self._wait_for_boardd() + managed_processes['pandad'].stop() + + # should be fast this time + managed_processes['pandad'].start() + self._wait_for_boardd(8) + + + #def test_out_of_date_fw(self): + # pass + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md index 1c80ea3d93..4d76e253cc 100644 --- a/selfdrive/car/CARS_template.md +++ b/selfdrive/car/CARS_template.md @@ -1,23 +1,27 @@ -{% set footnote_tag = '[{}](#footnotes)' -%} -{% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' -%} -{% set video_icon = '' -%} +{% set footnote_tag = '[{}](#footnotes)' %} +{% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' %} +{% set video_icon = '' %} +{# Force hardware column wider by using a blank image with max width. #} +{% set width_tag = '%s
 ' %} +{% set hardware_col_name = 'Hardware Needed' %} +{% set wide_hardware_col_name = width_tag|format(hardware_col_name) -%} # Supported Cars -A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. +A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. # {{all_car_info | length}} Supported Cars -|{{Column | map(attribute='value') | join('|')}}| +|{{Column | map(attribute='value') | join('|') | replace(hardware_col_name, wide_hardware_col_name)}}| |---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%} {% for car_info in all_car_info %} |{% for column in Column %}{{car_info.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %} {% endfor %} - +### Footnotes {% for footnote in footnotes %} {{loop.index}}{{footnote}}
{% endfor %} @@ -39,6 +43,7 @@ If your car has the following packages or features, then it's a good candidate f | Make | Required Package/Features | | ---- | ------------------------- | | Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. | +| Ford | Any car with Lane Centering will likely work. | | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. | | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. | | Nissan | Any car with ProPILOT will likely work. | diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index c056f7ca3d..58cde85817 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -73,7 +73,7 @@ def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> Dict[str, st return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc} -def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS): +def apply_driver_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS): # limits due to driver torque driver_max_torque = LIMITS.STEER_MAX + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER @@ -93,29 +93,37 @@ def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque return int(round(float(apply_torque))) -def apply_toyota_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS): - # limits due to comparison of commanded torque VS motor reported torque - max_lim = min(max(motor_torque + LIMITS.STEER_ERROR_MAX, LIMITS.STEER_ERROR_MAX), LIMITS.STEER_MAX) - min_lim = max(min(motor_torque - LIMITS.STEER_ERROR_MAX, -LIMITS.STEER_ERROR_MAX), -LIMITS.STEER_MAX) +def apply_dist_to_meas_limits(val, val_last, val_meas, + STEER_DELTA_UP, STEER_DELTA_DOWN, + STEER_ERROR_MAX, STEER_MAX): + # limits due to comparison of commanded val VS measured val (torque/angle/curvature) + max_lim = min(max(val_meas + STEER_ERROR_MAX, STEER_ERROR_MAX), STEER_MAX) + min_lim = max(min(val_meas - STEER_ERROR_MAX, -STEER_ERROR_MAX), -STEER_MAX) - apply_torque = clip(apply_torque, min_lim, max_lim) + val = clip(val, min_lim, max_lim) - # slow rate if steer torque increases in magnitude - if apply_torque_last > 0: - apply_torque = clip(apply_torque, - max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP), - apply_torque_last + LIMITS.STEER_DELTA_UP) + # slow rate if val increases in magnitude + if val_last > 0: + val = clip(val, + max(val_last - STEER_DELTA_DOWN, -STEER_DELTA_UP), + val_last + STEER_DELTA_UP) else: - apply_torque = clip(apply_torque, - apply_torque_last - LIMITS.STEER_DELTA_UP, - min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP)) + val = clip(val, + val_last - STEER_DELTA_UP, + min(val_last + STEER_DELTA_DOWN, STEER_DELTA_UP)) - return int(round(float(apply_torque))) + return float(val) + + +def apply_meas_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS): + return int(round(apply_dist_to_meas_limits(apply_torque, apply_torque_last, motor_torque, + LIMITS.STEER_DELTA_UP, LIMITS.STEER_DELTA_DOWN, + LIMITS.STEER_ERROR_MAX, LIMITS.STEER_MAX))) def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS): # pick angle rate limits based on wind up/down - steer_up = apply_angle_last * apply_angle > 0. and abs(apply_angle) > abs(apply_angle_last) + steer_up = apply_angle_last * apply_angle >= 0. and abs(apply_angle) > abs(apply_angle_last) rate_limits = LIMITS.ANGLE_RATE_LIMIT_UP if steer_up else LIMITS.ANGLE_RATE_LIMIT_DOWN angle_rate_lim = interp(v_ego, rate_limits.speed_bp, rate_limits.angle_v) diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py index 850a3538ad..4d583badae 100644 --- a/selfdrive/car/body/interface.py +++ b/selfdrive/car/body/interface.py @@ -8,7 +8,7 @@ from selfdrive.car.body.values import SPEED_FROM_RPM class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.notCar = True ret.carName = "body" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)] diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 370772c902..3d8ea22ef2 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -8,7 +8,7 @@ from system.version import is_comma_remote, is_tested_branch from selfdrive.car.interfaces import get_interface_attr from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars from selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN -from selfdrive.car.fw_versions import disable_obd_multiplexing, get_fw_versions_ordered, match_fw_to_car, get_present_ecus +from selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing from system.swaglog import cloudlog import cereal.messaging as messaging from selfdrive.car import gen_empty_fingerprint @@ -80,12 +80,13 @@ def fingerprint(logcan, sendcan, num_pandas): fixed_fingerprint = os.environ.get('FINGERPRINT', "") skip_fw_query = os.environ.get('SKIP_FW_QUERY', False) ecu_rx_addrs = set() + params = Params() if not skip_fw_query: # Vin query only reliably works through OBDII bus = 1 - cached_params = Params().get("CarParamsCache") + cached_params = params.get("CarParamsCache") if cached_params is not None: cached_params = car.CarParams.from_bytes(cached_params) if cached_params.carName == "mock": @@ -98,6 +99,7 @@ def fingerprint(logcan, sendcan, num_pandas): cached = True else: cloudlog.warning("Getting VIN & FW versions") + set_obd_multiplexing(params, True) vin_rx_addr, vin = get_vin(logcan, sendcan, bus) ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas) car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas) @@ -113,10 +115,11 @@ def fingerprint(logcan, sendcan, num_pandas): cloudlog.event("Malformed VIN", vin=vin, error=True) vin = VIN_UNKNOWN cloudlog.warning("VIN %s", vin) - - params = Params() params.put("CarVin", vin) - disable_obd_multiplexing(params) + + # disable OBD multiplexing for potential ECU knockouts + set_obd_multiplexing(params, False) + params.put_bool("FirmwareQueryDone", True) finger = gen_empty_fingerprint() candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1 @@ -180,11 +183,11 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1): candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas) if candidate is None: - cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints) + cloudlog.event("car doesn't match any fingerprints", fingerprints=fingerprints, error=True) candidate = "mock" CarInterface, CarController, CarState = interfaces[candidate] - CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed) + CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False) CP.carVin = vin CP.carFw = car_fw CP.fingerprintSource = source diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 20a44bce21..b418179e0e 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -1,6 +1,6 @@ from opendbc.can.packer import CANPacker from common.realtime import DT_CTRL -from selfdrive.car import apply_toyota_steer_torque_limits +from selfdrive.car import apply_meas_steer_torque_limits from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags @@ -67,7 +67,7 @@ class CarController: # steer torque new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX)) - apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params) + apply_steer = apply_meas_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params) if not lkas_active or not lkas_control_bit: apply_steer = 0 self.apply_steer_last = apply_steer diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 961684f398..22b2073883 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -8,10 +8,11 @@ from selfdrive.car.interfaces import CarInterfaceBase class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "chrysler" ret.dashcamOnly = candidate in RAM_HD + # radar parsing needs some work, see https://github.com/commaai/openpilot/issues/26842 ret.radarUnavailable = True # DBC[candidate]['radar'] is None ret.steerActuatorDelay = 0.1 ret.steerLimitTimer = 0.4 diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 16ebb4fa11..b5ee26cee8 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -1,12 +1,11 @@ from enum import IntFlag from dataclasses import dataclass -from enum import Enum from typing import Dict, List, Optional, Union from cereal import car from panda.python import uds from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarInfo, Harness +from selfdrive.car.docs_definitions import CarInfo, CarPart, CarParts from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 Ecu = car.CarParams.Ecu @@ -50,6 +49,7 @@ class CarControllerParams: self.STEER_DELTA_DOWN = 3 self.STEER_MAX = 261 # higher than this faults the EPS + STEER_THRESHOLD = 120 RAM_DT = {CAR.RAM_1500, } @@ -60,12 +60,13 @@ RAM_CARS = RAM_DT | RAM_HD @dataclass class ChryslerCarInfo(CarInfo): package: str = "Adaptive Cruise Control (ACC)" - harness: Enum = Harness.fca + car_parts: CarParts = CarParts.common([CarPart.fca]) + CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"), CAR.PACIFICA_2018_HYBRID: None, # same platforms - CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-22"), + CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"), CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"), CAR.PACIFICA_2020: [ ChryslerCarInfo("Chrysler Pacifica 2019-20"), @@ -73,10 +74,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { ], CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), - CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22", harness=Harness.ram), + CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", car_parts=CarParts.common([CarPart.ram])), CAR.RAM_HD: [ - ChryslerCarInfo("Ram 2500 2020-22", harness=Harness.ram), - ChryslerCarInfo("Ram 3500 2020-22", harness=Harness.ram), + ChryslerCarInfo("Ram 2500 2020-22", car_parts=CarParts.common([CarPart.ram])), + ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarPart.ram])), ], } @@ -93,13 +94,13 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { FINGERPRINTS = { CAR.PACIFICA_2017_HYBRID: [{ - 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 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416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 536: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 776: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 886: 8, 897: 8, 906: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 7, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1543: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 2015: 8, 2016: 8, 2017:8, 2024: 8, 2025: 8 @@ -125,6 +126,9 @@ FINGERPRINTS = { # Based on "8190c7275a24557b|2020-02-24--09-57-23" { 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1536: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8 + }, + { + 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 450: 8, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 2018: 8, 2020: 8, 2026: 8, 2028: 8 }], CAR.JEEP_CHEROKEE: [{ 55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 @@ -135,7 +139,7 @@ FINGERPRINTS = { }], CAR.JEEP_CHEROKEE_2019: [{ # Jeep Grand Cherokee 2019, including most 2020 models - 55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 + 55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1538: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 }], } @@ -180,79 +184,158 @@ FW_QUERY_CONFIG = FwQueryConfig( ) FW_VERSIONS = { + CAR.JEEP_CHEROKEE_2019: { + (Ecu.combinationMeter, 0x742, None): [ + b'68402971AD', + ], + (Ecu.srs, 0x744, None): [ + b'68355363AB', + ], + (Ecu.abs, 0x747, None): [ + b'68408639AD', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'68456722AC', + ], + (Ecu.eps, 0x75A, None): [ + b'68453431AA', + ], + (Ecu.engine, 0x7e0, None): [ + b'05035674AB ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'05035707AA', + ], + }, + CAR.RAM_1500: { (Ecu.combinationMeter, 0x742, None): [ - b'68294063AH', + b'68294051AG', + b'68294051AI', + b'68294052AG', b'68294063AG', + b'68294063AH', + b'68294063AI', + b'68434846AC', + b'68434858AC', b'68434860AC', - b'68527375AD', b'68453503AC', + b'68453505AC', + b'68453511AC', + b'68453513AD', + b'68453514AD', + b'68510283AG', + b'68527375AD', + b'68527346AE', ], (Ecu.srs, 0x744, None): [ + b'68428609AB', b'68441329AB', + b'68473844AB', b'68490898AA', - b'68428609AB', b'68500728AA', + b'68615033AA', ], (Ecu.abs, 0x747, None): [ - b'68432418AD', + b'68292406AH', b'68432418AB', + b'68432418AD', + b'68436004AD', b'68436004AE', + b'68438454AC', b'68438454AD', - b'68436004AD', + b'68438456AE', + b'68438456AF', b'68535469AB', - b'68438454AC', + b'68535470AC', + b'68586307AB', + b'68548900AB', ], (Ecu.fwdRadar, 0x753, None): [ - b'68320950AL', + b'04672892AB', + b'04672932AB', + b'68320950AH', + b'68320950AI', b'68320950AJ', + b'68320950AL', + b'68320950AM', b'68454268AB', - b'68475160AG', - b'04672892AB', b'68475160AE', + b'68475160AF', + b'68475160AG', ], (Ecu.eps, 0x75A, None): [ + b'68273275AF', b'68273275AG', + b'68312176AE', + b'68312176AG', + b'68440789AC', + b'68466110AB', b'68469901AA', + b'68522583AB', + b'68522585AB', b'68552788AA', + b'68552790AA', + b'68585112AB', + b'68552789AA', ], (Ecu.engine, 0x7e0, None): [ + b'05036065AE ', + b'05036066AE ', + b'68378701AI ', + b'68378758AM ', b'68448163AJ', + b'68448165AK', b'68500630AD', + b'68500630AE', b'68539650AD', - b'68378758AM ', + b'05149846AA ', ], (Ecu.transmission, 0x7e1, None): [ b'68360078AL', - b'68384328AD', - b'68360085AL', + b'68360080AM', b'68360081AM', - b'68502994AD', + b'68360085AL', + b'68384328AD', + b'68384332AD', b'68445533AB', - b'68540431AB', b'68484467AC', + b'68502994AD', + b'68540431AB', + b'68520867AE', ], }, CAR.RAM_HD: { (Ecu.combinationMeter, 0x742, None): [ b'68361606AH', + b'68437735AC', b'68492693AD', + b'68525485AB', + b'68525487AB', + b'68525498AB', ], (Ecu.srs, 0x744, None): [ b'68399794AC', b'68428503AA', b'68428505AA', + b'68428507AA', ], (Ecu.abs, 0x747, None): [ b'68334977AH', + b'68455481AC', + b'68504022AA', b'68504022AB', - b'68530686AB', b'68504022AC', + b'68530686AB', + b'68530686AC', ], (Ecu.fwdRadar, 0x753, None): [ b'04672895AB', b'56029827AG', + b'56029827AH', + b'68462657AE', + b'68484694AD', b'68484694AE', ], (Ecu.eps, 0x761, None): [ @@ -260,7 +343,13 @@ FW_VERSIONS = { b'68507906AB', ], (Ecu.engine, 0x7e0, None): [ + b'52370131AF', + b'52370231AF', + b'52370231AG', + b'52370931CT', + b'52401032AE', b'52421132AF', + b'68527616AD ', b'M2370131MB', b'M2421132MB', ], diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py index cd3e93fa80..ed98e14dc1 100755 --- a/selfdrive/car/disable_ecu.py +++ b/selfdrive/car/disable_ecu.py @@ -31,8 +31,8 @@ def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01' except Exception: cloudlog.exception("ecu disable exception") - print(f"ecu disable retry ({i+1}) ...") - cloudlog.warning("ecu disable failed") + cloudlog.error(f"ecu disable retry ({i + 1}) ...") + cloudlog.error("ecu disable failed") return False diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py index bc03619d0d..afeb457544 100755 --- a/selfdrive/car/docs.py +++ b/selfdrive/car/docs.py @@ -10,7 +10,7 @@ from typing import Dict, List from cereal import car from common.basedir import BASEDIR from selfdrive.car import gen_empty_fingerprint -from selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote +from selfdrive.car.docs_definitions import CarInfo, CarPart, Column, CommonFootnote, PartType from selfdrive.car.car_helpers import interfaces, get_interface_attr @@ -29,7 +29,7 @@ def get_all_car_info() -> List[CarInfo]: all_car_info: List[CarInfo] = [] footnotes = get_all_footnotes() for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items(): - CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=False) + CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=False, docs=True) if CP.dashcamOnly or car_info is None: continue @@ -61,7 +61,8 @@ def generate_cars_md(all_car_info: List[CarInfo], template_fn: str) -> str: template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True) footnotes = [fn.value.text for fn in get_all_footnotes()] - cars_md: str = template.render(all_car_info=all_car_info, group_by_make=group_by_make, + cars_md: str = template.render(all_car_info=all_car_info, CarPart=CarPart, + PartType=PartType, group_by_make=group_by_make, footnotes=footnotes, Column=Column) return cars_md diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index c0fb4420df..2088cc63b3 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -20,7 +20,7 @@ class Column(Enum): FSR_STEERING = "No ALC below" STEERING_TORQUE = "Steering Torque" AUTO_RESUME = "Resume from stop" - HARNESS = "Harness" + HARDWARE = "Hardware Needed" VIDEO = "Video" @@ -30,43 +30,119 @@ class Star(Enum): EMPTY = "empty" -class Harness(Enum): - nidec = "Honda Nidec" - bosch_a = "Honda Bosch A" - bosch_b = "Honda Bosch B" - toyota = "Toyota" - subaru_a = "Subaru A" - subaru_b = "Subaru B" - fca = "FCA" - ram = "Ram" - vw = "VW" - j533 = "J533" - hyundai_a = "Hyundai A" - hyundai_b = "Hyundai B" - hyundai_c = "Hyundai C" - hyundai_d = "Hyundai D" - hyundai_e = "Hyundai E" - hyundai_f = "Hyundai F" - hyundai_g = "Hyundai G" - hyundai_h = "Hyundai H" - hyundai_i = "Hyundai I" - hyundai_j = "Hyundai J" - hyundai_k = "Hyundai K" - hyundai_l = "Hyundai L" - hyundai_m = "Hyundai M" - hyundai_n = "Hyundai N" - hyundai_o = "Hyundai O" - hyundai_p = "Hyundai P" - hyundai_q = "Hyundai Q" - custom = "Developer" - obd_ii = "OBD-II" - gm = "GM" - nissan_a = "Nissan A" - nissan_b = "Nissan B" - mazda = "Mazda" - ford_q3 = "Ford Q3" - ford_q4 = "Ford Q4" - none = "None" +class PartType(Enum): + connector = "Connector" + device = "Device" + cable = "Cable" + accessory = "Accessory" + mount = "Mount" + + +@dataclass +class Part: + name: str + + @property + def type(self) -> PartType: + raise NotImplementedError + + +class Connector(Part): + @property + def type(self) -> PartType: + return PartType.connector + + +class Accessory(Part): + @property + def type(self) -> PartType: + return PartType.accessory + + +class Mount(Part): + @property + def type(self) -> PartType: + return PartType.mount + + +class Cable(Part): + @property + def type(self) -> PartType: + return PartType.cable + + +class Device(Part): + @property + def type(self) -> PartType: + return PartType.device + + +class CarPart(Enum): + nidec = Connector("Honda Nidec connector") + bosch_a = Connector("Honda Bosch A connector") + bosch_b = Connector("Honda Bosch B connector") + toyota = Connector("Toyota connector") + subaru_a = Connector("Subaru A connector") + subaru_b = Connector("Subaru B connector") + fca = Connector("FCA connector") + ram = Connector("Ram connector") + vw = Connector("VW connector") + j533 = Connector("J533 connector") + hyundai_a = Connector("Hyundai A connector") + hyundai_b = Connector("Hyundai B connector") + hyundai_c = Connector("Hyundai C connector") + hyundai_d = Connector("Hyundai D connector") + hyundai_e = Connector("Hyundai E connector") + hyundai_f = Connector("Hyundai F connector") + hyundai_g = Connector("Hyundai G connector") + hyundai_h = Connector("Hyundai H connector") + hyundai_i = Connector("Hyundai I connector") + hyundai_j = Connector("Hyundai J connector") + hyundai_k = Connector("Hyundai K connector") + hyundai_l = Connector("Hyundai L connector") + hyundai_m = Connector("Hyundai M connector") + hyundai_n = Connector("Hyundai N connector") + hyundai_o = Connector("Hyundai O connector") + hyundai_p = Connector("Hyundai P connector") + hyundai_q = Connector("Hyundai Q connector") + custom = Connector("Developer connector") + obd_ii = Connector("OBD-II connector") + gm = Connector("GM connector") + nissan_a = Connector("Nissan A connector") + nissan_b = Connector("Nissan B connector") + mazda = Connector("Mazda connector") + ford_q3 = Connector("Ford Q3 connector") + ford_q4 = Connector("Ford Q4 connector") + + comma_3 = Device("comma 3") + red_panda = Device("red panda") + + harness_box = Accessory("harness box") + comma_power_v2 = Accessory("comma power v2") + + mount = Mount("mount") + angled_mount = Mount("angled mount") + + rj45_cable_7ft = Cable("RJ45 cable (7 ft)") + long_obdc_cable = Cable("long OBD-C cable") + usb_a_2_a_cable = Cable("USB A-A cable") + usbc_otg_cable = Cable("USB C OTG cable") + usbc_coupler = Cable("USB-C coupler") + obd_c_cable_1_5ft = Cable("OBD-C cable (1.5 ft)") + right_angle_obd_c_cable_1_5ft = Cable("right angle OBD-C cable (1.5 ft)") + + +DEFAULT_CAR_PARTS: List[CarPart] = [CarPart.harness_box, CarPart.comma_power_v2, CarPart.rj45_cable_7ft, CarPart.mount, CarPart.right_angle_obd_c_cable_1_5ft] + + +@dataclass +class CarParts: + parts: List[CarPart] = field(default_factory=list) + + @classmethod + def common(cls, add: List[CarPart] = None, remove: List[CarPart] = None): + p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])] + return cls(p) CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_footnote"], defaults=(False, False)) @@ -117,13 +193,28 @@ def split_name(name: str) -> Tuple[str, str, str]: @dataclass class CarInfo: + # make + model + model years name: str + + # Example for Toyota Corolla MY20 + # requirements: Lane Tracing Assist (LTA) and Dynamic Radar Cruise Control (DRCC) + # US Market reference: "All", since all Corolla in the US come standard with LTA and DRCC + + # the simplest description of the requirements for the US market package: str + + # the minimum compatibility requirements for this model, regardless + # of market. can be a package, trim, or list of features + requirements: Optional[str] = None + video_link: Optional[str] = None footnotes: List[Enum] = field(default_factory=list) min_steer_speed: Optional[float] = None min_enable_speed: Optional[float] = None - harness: Enum = Harness.none + auto_resume: Optional[bool] = None + + # all the parts needed for the supported car + car_parts: CarParts = CarParts() def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]): self.car_name = CP.carName @@ -152,13 +243,19 @@ class CarInfo: if self.min_enable_speed is None: self.min_enable_speed = CP.minEnableSpeed - # harness column - harness_col = self.harness.value - if self.harness is not Harness.none: + if self.auto_resume is None: + self.auto_resume = CP.autoResumeSng + + # hardware column + hardware_col = "None" + if self.car_parts.parts: model_years = self.model + (' ' + self.years if self.years else '') - harness_col = f'{harness_col}' + buy_link = f'Buy Here' + parts = '
'.join([f"- {self.car_parts.parts.count(part)} {part.value.name}" for part in + sorted(set(self.car_parts.parts), key=lambda part: str(part.value.name))]) + hardware_col = f'
View{parts}
{buy_link}
' - self.row = { + self.row: Dict[Enum, Union[str, Star]] = { Column.MAKE: self.make, Column.MODEL: self.model, Column.PACKAGE: self.package, @@ -166,8 +263,8 @@ class CarInfo: Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph", Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph", Column.STEERING_TORQUE: Star.EMPTY, - Column.AUTO_RESUME: Star.FULL if CP.autoResumeSng else Star.EMPTY, - Column.HARNESS: harness_col, + Column.AUTO_RESUME: Star.FULL if self.auto_resume else Star.EMPTY, + Column.HARDWARE: hardware_col, Column.VIDEO: self.video_link if self.video_link is not None else "", # replaced with an image and link from template in get_column } @@ -198,7 +295,7 @@ class CarInfo: acc = "" if self.min_enable_speed > 0: acc = f" while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph" - elif CP.autoResumeSng: + elif self.auto_resume: acc = " that automatically resumes from a stop" if self.row[Column.STEERING_TORQUE] != Star.FULL: diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py index e5d550fac8..868f12cdb8 100755 --- a/selfdrive/car/ecu_addrs.py +++ b/selfdrive/car/ecu_addrs.py @@ -9,6 +9,8 @@ from selfdrive.car import make_can_msg from selfdrive.boardd.boardd import can_list_to_can_capnp from system.swaglog import cloudlog +EcuAddrBusType = Tuple[int, Optional[int], int] + def make_tester_present_msg(addr, bus, subaddr=None): dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0] @@ -33,16 +35,16 @@ def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subadd return False -def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[Tuple[int, Optional[int], int]]: +def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[EcuAddrBusType]: addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)] - queries: Set[Tuple[int, Optional[int], int]] = {(addr, None, bus) for addr in addr_list} + queries: Set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list} responses = queries return get_ecu_addrs(logcan, sendcan, queries, responses, timeout=timeout, debug=debug) -def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[Tuple[int, Optional[int], int]], - responses: Set[Tuple[int, Optional[int], int]], timeout: float = 1, debug: bool = False) -> Set[Tuple[int, Optional[int], int]]: - ecu_responses: Set[Tuple[int, Optional[int], int]] = set() # set((addr, subaddr, bus),) +def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[EcuAddrBusType], + responses: Set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> Set[EcuAddrBusType]: + ecu_responses: Set[EcuAddrBusType] = set() # set((addr, subaddr, bus),) try: msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries] @@ -53,6 +55,10 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que can_packets = messaging.drain_sock(logcan, wait_for_one=True) for packet in can_packets: for msg in packet.can: + if not len(msg.dat): + cloudlog.warning("ECU addr scan: skipping empty remote frame") + continue + subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0] if (msg.address, subaddr, msg.src) in responses and is_tester_present_response(msg, subaddr): if debug: diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 99072ae975..d9a9ae6bc0 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -2,13 +2,26 @@ from cereal import car from common.numpy_fast import clip from opendbc.can.packer import CANPacker from selfdrive.car import apply_std_steer_angle_limits -from selfdrive.car.ford.fordcan import create_acc_command, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \ +from selfdrive.car.ford.fordcan import create_acc_msg, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \ create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg from selfdrive.car.ford.values import CANBUS, CANFD_CARS, CarControllerParams +LongCtrlState = car.CarControl.Actuators.LongControlState VisualAlert = car.CarControl.HUDControl.VisualAlert +def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw): + # No blending at low speed due to lack of torque wind-up and inaccurate current curvature + if v_ego_raw > 9: + apply_curvature = clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR, + current_curvature + CarControllerParams.CURVATURE_ERROR) + + # Curvature rate limit after driver torque limit + apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, CarControllerParams) + + return clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX) + + class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP @@ -43,17 +56,16 @@ class CarController: can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, tja_toggle=True)) ### lateral control ### - # send steering commands at 20Hz + # send steer msg at 20Hz if (self.frame % CarControllerParams.STEER_STEP) == 0: if CC.latActive: - # apply limits to curvature and clip to signal range - apply_curvature = apply_std_steer_angle_limits(actuators.curvature, self.apply_curvature_last, CS.out.vEgo, CarControllerParams) - apply_curvature = clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX) + # apply rate limits, curvature error limit, and clip to signal range + current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1) + apply_curvature = apply_ford_curvature_limits(actuators.curvature, self.apply_curvature_last, current_curvature, CS.out.vEgoRaw) else: apply_curvature = 0. self.apply_curvature_last = apply_curvature - can_sends.append(create_lka_msg(self.packer)) if self.CP.carFingerprint in CANFD_CARS: # TODO: extended mode @@ -63,31 +75,32 @@ class CarController: else: can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.)) + # send lka msg at 33Hz + if (self.frame % CarControllerParams.LKA_STEP) == 0: + can_sends.append(create_lka_msg(self.packer)) + ### longitudinal control ### - # send acc command at 50Hz + # send acc msg at 50Hz if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0: + # Both gas and accel are in m/s^2, accel is used solely for braking accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX) + gas = accel + if not CC.longActive or gas < CarControllerParams.MIN_GAS: + gas = CarControllerParams.INACTIVE_GAS - precharge_brake = accel < -0.1 - if accel > -0.5: - gas = accel - decel = False - else: - gas = -5.0 - decel = True - - can_sends.append(create_acc_command(self.packer, CC.longActive, gas, accel, precharge_brake, decel)) + stopping = CC.actuators.longControlState == LongCtrlState.stopping + can_sends.append(create_acc_msg(self.packer, CC.longActive, gas, accel, stopping)) ### ui ### send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) - - # send lkas ui command at 1Hz or if ui state changes + # send lkas ui msg at 1Hz or if ui state changes if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui: can_sends.append(create_lkas_ui_msg(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) - - # send acc ui command at 20Hz or if ui state changes + # send acc ui msg at 5Hz or if ui state changes if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui: - can_sends.append(create_acc_ui_msg(self.packer, main_on, CC.latActive, hud_control, CS.acc_tja_status_stock_values)) + can_sends.append(create_acc_ui_msg(self.packer, self.CP, main_on, CC.latActive, + CS.out.cruiseState.standstill, hud_control, + CS.acc_tja_status_stock_values)) self.main_on_last = main_on self.lkas_enabled_last = CC.latActive diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index f97225e9f2..9be2c7637c 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -16,9 +16,21 @@ class CarState(CarStateBase): if CP.transmissionType == TransmissionType.automatic: self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"] + self.vehicle_sensors_valid = False + self.hybrid_platform = False + def update(self, cp, cp_cam): ret = car.CarState.new_message() + # Hybrid variants experience a bug where a message from the PCM sends invalid checksums, + # we do not support these cars at this time. + # TrnAin_Tq_Actl and its quality flag are only set on ICE platform variants + self.hybrid_platform = cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0 + + # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement + # The vehicle usually recovers out of this state within a minute of normal driving + self.vehicle_sensors_valid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] == 3 + # car speed ret.vEgoRaw = cp.vl["BrakeSysFeatures"]["Veh_V_ActlBrk"] * CV.KPH_TO_MS ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) @@ -37,7 +49,7 @@ class CarState(CarStateBase): # steering wheel ret.steeringAngleDeg = cp.vl["SteeringPinion_Data"]["StePinComp_An_Est"] ret.steeringTorque = cp.vl["EPAS_INFO"]["SteeringColumnTorque"] - ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE + ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5) ret.steerFaultTemporary = cp.vl["EPAS_INFO"]["EPAS_Failure"] == 1 ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3) # ret.espDisabled = False # TODO: find traction control signal @@ -48,6 +60,7 @@ class CarState(CarStateBase): ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5) ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0 ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3 + ret.accFaulted = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (1, 2) # gear if self.CP.transmissionType == TransmissionType.automatic: @@ -62,7 +75,7 @@ class CarState(CarStateBase): # safety ret.stockFcw = bool(cp_cam.vl["ACCDATA_3"]["FcwVisblWarn_B_Rq"]) - ret.stockAeb = ret.stockFcw and ret.cruiseState.enabled + ret.stockAeb = bool(cp_cam.vl["ACCDATA_2"]["CmbbBrkDecel_B_Rq"]) # button presses ret.leftBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 1 @@ -92,6 +105,8 @@ class CarState(CarStateBase): def get_can_parser(CP): signals = [ # sig_name, sig_address + ("TrnAinTq_D_Qf", "VehicleOperatingModes"), # Used to detect hybrid or ICE platform variant + ("Veh_V_ActlBrk", "BrakeSysFeatures"), # ABS vehicle speed (kph) ("VehYaw_W_Actl", "Yaw_Data_FD1"), # ABS vehicle yaw rate (rad/s) ("VehStop_D_Stat", "DesiredTorqBrk"), # ABS vehicle stopped @@ -105,6 +120,7 @@ class CarState(CarStateBase): ("AccStopMde_D_Rq", "EngBrakeData"), # PCM ACC standstill ("AccEnbl_B_RqDrv", "Cluster_Info1_FD1"), # PCM ACC enable ("StePinComp_An_Est", "SteeringPinion_Data"), # PSCM estimated steering angle (deg) + ("StePinCompAnEst_D_Qf", "SteeringPinion_Data"), # PSCM estimated steering angle (quality flag) # Calculates steering angle (and offset) from pinion # angle and driving measurements. # StePinRelInit_An_Sns is the pinion angle, initialised @@ -125,7 +141,6 @@ class CarState(CarStateBase): ("AccButtnGapIncPress", "Steering_Data_FD1"), ("AslButtnOnOffCnclPress", "Steering_Data_FD1"), ("AslButtnOnOffPress", "Steering_Data_FD1"), - ("CcAslButtnCnclPress", "Steering_Data_FD1"), ("LaSwtchPos_D_Stat", "Steering_Data_FD1"), ("CcAslButtnCnclResPress", "Steering_Data_FD1"), ("CcAslButtnDeny_B_Actl", "Steering_Data_FD1"), @@ -139,7 +154,6 @@ class CarState(CarStateBase): ("CcAslButtnSetDecPress", "Steering_Data_FD1"), ("CcAslButtnSetIncPress", "Steering_Data_FD1"), ("CcAslButtnSetPress", "Steering_Data_FD1"), - ("CcAsllButtnResPress", "Steering_Data_FD1"), ("CcButtnOffPress", "Steering_Data_FD1"), ("CcButtnOnOffCnclPress", "Steering_Data_FD1"), ("CcButtnOnOffPress", "Steering_Data_FD1"), @@ -154,6 +168,7 @@ class CarState(CarStateBase): checks = [ # sig_address, frequency + ("VehicleOperatingModes", 100), ("BrakeSysFeatures", 50), ("Yaw_Data_FD1", 100), ("DesiredTorqBrk", 50), @@ -202,6 +217,8 @@ class CarState(CarStateBase): def get_cam_can_parser(CP): signals = [ # sig_name, sig_address + ("CmbbBrkDecel_B_Rq", "ACCDATA_2"), # AEB actuation request bit + ("HaDsply_No_Cs", "ACCDATA_3"), ("HaDsply_No_Cnt", "ACCDATA_3"), ("AccStopStat_D_Dsply", "ACCDATA_3"), # ACC stopped status message @@ -216,7 +233,7 @@ class CarState(CarStateBase): ("FcwMemStat_B_Actl", "ACCDATA_3"), # FCW enabled setting ("AccTGap_B_Dsply", "ACCDATA_3"), # ACC time gap display setting ("CadsAlignIncplt_B_Actl", "ACCDATA_3"), - ("AccFllwMde_B_Dsply", "ACCDATA_3"), # ACC follow mode display setting + ("AccFllwMde_B_Dsply", "ACCDATA_3"), # ACC lead indicator ("CadsRadrBlck_B_Actl", "ACCDATA_3"), ("CmbbPostEvnt_B_Dsply", "ACCDATA_3"), # AEB event status ("AccStopMde_B_Dsply", "ACCDATA_3"), # ACC stop mode display setting @@ -233,9 +250,7 @@ class CarState(CarStateBase): ("FeatNoIpmaActl", "IPMA_Data"), ("PersIndexIpma_D_Actl", "IPMA_Data"), ("AhbcRampingV_D_Rq", "IPMA_Data"), # AHB ramping - ("LaActvStats_D_Dsply", "IPMA_Data"), # LKAS status (lines) ("LaDenyStats_B_Dsply", "IPMA_Data"), # LKAS error - ("LaHandsOff_D_Dsply", "IPMA_Data"), # LKAS hands on chime ("CamraDefog_B_Req", "IPMA_Data"), # Windshield heater? ("CamraStats_D_Dsply", "IPMA_Data"), # Camera status ("DasAlrtLvl_D_Dsply", "IPMA_Data"), # DAS alert level @@ -248,6 +263,7 @@ class CarState(CarStateBase): checks = [ # sig_address, frequency + ("ACCDATA_2", 50), ("ACCDATA_3", 5), ("IPMA_Data", 1), ] diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index 594d50f59f..97a8c025d4 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -5,11 +5,15 @@ HUDControl = car.CarControl.HUDControl def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray): + curvature = (dat[2] << 3) | ((dat[3]) >> 5) + curvature_rate = (dat[6] << 3) | ((dat[7]) >> 5) + path_angle = ((dat[3] & 0x1F) << 6) | ((dat[4]) >> 2) + path_offset = ((dat[4] & 0x3) << 8) | dat[5] + checksum = mode + counter - checksum += dat[2] + ((dat[3] & 0xE0) >> 5) # curvature - checksum += dat[6] + ((dat[7] & 0xE0) >> 5) # curvature rate - checksum += (dat[3] & 0x1F) + ((dat[4] & 0xFC) >> 2) # path angle - checksum += (dat[4] & 0x3) + dat[5] # path offset + for sig_val in (curvature, curvature_rate, path_angle, path_offset): + checksum += sig_val + (sig_val >> 8) + return 0xFF - (checksum & 0xFF) @@ -19,7 +23,7 @@ def create_lka_msg(packer): This command can apply "Lane Keeping Aid" manoeuvres, which are subject to the PSCM lockout. - Frequency is 20Hz. + Frequency is 33Hz. """ return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {}) @@ -97,7 +101,7 @@ def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float return packer.make_can_msg("LateralMotionControl2", CANBUS.main, values) -def create_acc_command(packer, long_active: bool, gas: float, accel: float, precharge_brake: bool, decel: bool): +def create_acc_msg(packer, long_active: bool, gas: float, accel: float, stopping: bool): """ Creates a CAN message for the Ford ACC Command. @@ -107,16 +111,95 @@ def create_acc_command(packer, long_active: bool, gas: float, accel: float, prec Frequency is 50Hz. """ + decel = accel < 0 and long_active values = { "AccBrkTot_A_Rq": accel, # Brake total accel request: [-20|11.9449] m/s^2 "Cmbb_B_Enbl": 1 if long_active else 0, # Enabled: 0=No, 1=Yes "AccPrpl_A_Rq": gas, # Acceleration request: [-5|5.23] m/s^2 - "AccBrkPrchg_B_Rq": 1 if precharge_brake else 0, # Pre-charge brake request: 0=No, 1=Yes + "AccResumEnbl_B_Rq": 1 if long_active else 0, + # TODO: we may be able to improve braking response by utilizing pre-charging better + "AccBrkPrchg_B_Rq": 1 if decel else 0, # Pre-charge brake request: 0=No, 1=Yes "AccBrkDecel_B_Rq": 1 if decel else 0, # Deceleration request: 0=Inactive, 1=Active + "AccStopStat_B_Rq": 1 if stopping else 0, } return packer.make_can_msg("ACCDATA", CANBUS.main, values) +def create_acc_ui_msg(packer, CP, main_on: bool, enabled: bool, standstill: bool, hud_control, + stock_values: dict): + """ + Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam + assist status. + + Stock functionality is maintained by passing through unmodified signals. + + Frequency is 5Hz. + """ + + # Tja_D_Stat + if enabled: + if hud_control.leftLaneDepart: + status = 3 # ActiveInterventionLeft + elif hud_control.rightLaneDepart: + status = 4 # ActiveInterventionRight + else: + status = 2 # Active + elif main_on: + if hud_control.leftLaneDepart: + status = 5 # ActiveWarningLeft + elif hud_control.rightLaneDepart: + status = 6 # ActiveWarningRight + else: + status = 1 # Standby + else: + status = 0 # Off + + values = {s: stock_values[s] for s in [ + "HaDsply_No_Cs", + "HaDsply_No_Cnt", + "AccStopStat_D_Dsply", # ACC stopped status message + "AccTrgDist2_D_Dsply", # ACC target distance + "AccStopRes_B_Dsply", + "TjaWarn_D_Rq", # TJA warning + "TjaMsgTxt_D_Dsply", # TJA text + "IaccLamp_D_Rq", # iACC status icon + "AccMsgTxt_D2_Rq", # ACC text + "FcwDeny_B_Dsply", # FCW disabled + "FcwMemStat_B_Actl", # FCW enabled setting + "AccTGap_B_Dsply", # ACC time gap display setting + "CadsAlignIncplt_B_Actl", + "AccFllwMde_B_Dsply", # ACC follow mode display setting + "CadsRadrBlck_B_Actl", + "CmbbPostEvnt_B_Dsply", # AEB event status + "AccStopMde_B_Dsply", # ACC stop mode display setting + "FcwMemSens_D_Actl", # FCW sensitivity setting + "FcwMsgTxt_D_Rq", # FCW text + "AccWarn_D_Dsply", # ACC warning + "FcwVisblWarn_B_Rq", # FCW visible alert + "FcwAudioWarn_B_Rq", # FCW audio alert + "AccTGap_D_Dsply", # ACC time gap + "AccMemEnbl_B_RqDrv", # ACC adaptive/normal setting + "FdaMem_B_Stat", # FDA enabled setting + ]} + + values.update({ + "Tja_D_Stat": status, # TJA status + }) + + if CP.openpilotLongitudinalControl: + values.update({ + "AccStopStat_D_Dsply": 2 if standstill else 0, # Stopping status text + "AccMsgTxt_D2_Rq": 0, # ACC text + "AccTGap_B_Dsply": 0, # Show time gap control UI + "AccFllwMde_B_Dsply": 1 if hud_control.leadVisible else 0, # Lead indicator + "AccStopMde_B_Dsply": 1 if standstill else 0, + "AccWarn_D_Dsply": 0, # ACC warning + "AccTGap_D_Dsply": 4, # Fixed time gap in UI + }) + + return packer.make_can_msg("ACCDATA_3", CANBUS.main, values) + + def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict): """ Creates a CAN message for the Ford IPC IPMA/LKAS status. @@ -158,63 +241,78 @@ def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, else: lines = 30 # LA_Off - # TODO: use level 1 for no sound when less severe? - hands_on_wheel_dsply = 2 if steer_alert else 0 - - values = { - **stock_values, + hands_on_wheel_dsply = 1 if steer_alert else 0 + + values = {s: stock_values[s] for s in [ + "FeatConfigIpmaActl", + "FeatNoIpmaActl", + "PersIndexIpma_D_Actl", + "AhbcRampingV_D_Rq", # AHB ramping + "LaDenyStats_B_Dsply", # LKAS error + "CamraDefog_B_Req", # Windshield heater? + "CamraStats_D_Dsply", # Camera status + "DasAlrtLvl_D_Dsply", # DAS alert level + "DasStats_D_Dsply", # DAS status + "DasWarn_D_Dsply", # DAS warning + "AhbHiBeam_D_Rq", # AHB status + "Passthru_63", + "Passthru_48", + ]} + + values.update({ "LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31] "LaHandsOff_D_Dsply": hands_on_wheel_dsply, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed - } + }) return packer.make_can_msg("IPMA_Data", CANBUS.main, values) -def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict): - """ - Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam assist status. - - Stock functionality is maintained by passing through unmodified signals. - - Frequency is 20Hz. - """ - - # Tja_D_Stat - if enabled: - if hud_control.leftLaneDepart: - status = 3 # ActiveInterventionLeft - elif hud_control.rightLaneDepart: - status = 4 # ActiveInterventionRight - else: - status = 2 # Active - elif main_on: - if hud_control.leftLaneDepart: - status = 5 # ActiveWarningLeft - elif hud_control.rightLaneDepart: - status = 6 # ActiveWarningRight - else: - status = 1 # Standby - else: - status = 0 # Off - - values = { - **stock_values, - "Tja_D_Stat": status, - } - return packer.make_can_msg("ACCDATA_3", CANBUS.main, values) - - def create_button_msg(packer, stock_values: dict, cancel=False, resume=False, tja_toggle=False, bus: int = CANBUS.camera): """ Creates a CAN message for the Ford SCCM buttons/switches. Includes cruise control buttons, turn lights and more. + + Frequency is 10Hz. """ - values = { - **stock_values, + values = {s: stock_values[s] for s in [ + "HeadLghtHiFlash_D_Stat", # SCCM Passthrough the remaining buttons + "TurnLghtSwtch_D_Stat", # SCCM Turn signal switch + "WiprFront_D_Stat", + "LghtAmb_D_Sns", + "AccButtnGapDecPress", + "AccButtnGapIncPress", + "AslButtnOnOffCnclPress", + "AslButtnOnOffPress", + "LaSwtchPos_D_Stat", + "CcAslButtnCnclResPress", + "CcAslButtnDeny_B_Actl", + "CcAslButtnIndxDecPress", + "CcAslButtnIndxIncPress", + "CcAslButtnOffCnclPress", + "CcAslButtnOnOffCncl", + "CcAslButtnOnPress", + "CcAslButtnResDecPress", + "CcAslButtnResIncPress", + "CcAslButtnSetDecPress", + "CcAslButtnSetIncPress", + "CcAslButtnSetPress", + "CcButtnOffPress", + "CcButtnOnOffCnclPress", + "CcButtnOnOffPress", + "CcButtnOnPress", + "HeadLghtHiFlash_D_Actl", + "HeadLghtHiOn_B_StatAhb", + "AhbStat_B_Dsply", + "AccButtnGapTogglePress", + "WiprFrontSwtch_D_Stat", + "HeadLghtHiCtrl_D_RqAhb", + ]} + + values.update({ "CcAslButtnCnclPress": 1 if cancel else 0, # CC cancel button "CcAsllButtnResPress": 1 if resume else 0, # CC resume button - "TjaButtnOnOffPress": 1 if tja_toggle else 0, # TJA toggle button - } + "TjaButtnOnOffPress": 1 if tja_toggle else 0, # LCA/TJA toggle button + }) return packer.make_can_msg("Steering_Data_FD1", bus, values) diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 9e1366618c..626853dd8f 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -1,5 +1,6 @@ #!/usr/bin/env python3 from cereal import car +from panda import Panda from common.conversions import Conversions as CV from selfdrive.car import STD_CARGO_KG, get_safety_config from selfdrive.car.ford.values import CAR, Ecu @@ -11,18 +12,25 @@ GearShifter = car.CarState.GearShifter class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "ford" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)] - # These cars are dashcam only until the port is finished - ret.dashcamOnly = True + # These cars are dashcam only for lack of test coverage. + # Once a user confirms each car works and a test route is + # added to selfdrive/car/tests/routes.py, we can remove it from this list. + ret.dashcamOnly = candidate in {CAR.FOCUS_MK4} ret.radarUnavailable = True ret.steerControlType = car.CarParams.SteerControlType.angle ret.steerActuatorDelay = 0.2 ret.steerLimitTimer = 1.0 + ret.experimentalLongitudinalAvailable = True + if experimental_long: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL + ret.openpilotLongitudinalControl = True + if candidate == CAR.BRONCO_SPORT_MK1: ret.wheelbase = 2.67 ret.steerRatio = 17.7 @@ -53,7 +61,7 @@ class CarInterface(CarInterfaceBase): # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1 found_ecus = [fw.ecu for fw in car_fw] - if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[0]: + if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[0] or docs: ret.transmissionType = TransmissionType.automatic else: ret.transmissionType = TransmissionType.manual @@ -74,6 +82,11 @@ class CarInterface(CarInterfaceBase): ret = self.CS.update(self.cp, self.cp_cam) events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic]) + if not self.CS.vehicle_sensors_valid: + events.add(car.CarEvent.EventName.vehicleSensorsInvalid) + if self.CS.hybrid_platform: + events.add(car.CarEvent.EventName.startupNoControl) + ret.events = events.to_msg() return ret diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 526b74b16c..41fa8f3475 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -1,38 +1,38 @@ from collections import defaultdict from dataclasses import dataclass -from enum import Enum from typing import Dict, List, Set, Union from cereal import car from selfdrive.car import AngleRateLimit, dbc_dict -from selfdrive.car.docs_definitions import CarInfo, Harness +from selfdrive.car.docs_definitions import CarInfo, CarPart, CarParts from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu class CarControllerParams: - # Messages: Lane_Assist_Data1, LateralMotionControl - STEER_STEP = 5 - # Message: ACCDATA - ACC_CONTROL_STEP = 2 - # Message: IPMA_Data - LKAS_UI_STEP = 100 - # Message: ACCDATA_3 - ACC_UI_STEP = 5 - # Message: Steering_Data_FD1, but send twice as fast - BUTTONS_STEP = 10 / 2 + STEER_STEP = 5 # LateralMotionControl, 20Hz + LKA_STEP = 3 # Lane_Assist_Data1, 33Hz + ACC_CONTROL_STEP = 2 # ACCDATA, 50Hz + LKAS_UI_STEP = 100 # IPMA_Data, 1Hz + ACC_UI_STEP = 20 # ACCDATA_3, 5Hz + BUTTONS_STEP = 5 # Steering_Data_FD1, 10Hz, but send twice as fast CURVATURE_MAX = 0.02 # Max curvature for steering command, m^-1 - STEER_DRIVER_ALLOWANCE = 0.8 # Driver intervention threshold, Nm + STEER_DRIVER_ALLOWANCE = 1.0 # Driver intervention threshold, Nm # Curvature rate limits - # TODO: unify field names used by curvature and angle control cars - ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.005, 0.00056, 0.0002]) - ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.008, 0.00089, 0.00032]) + # The curvature signal is limited to 0.003 to 0.009 m^-1/sec by the EPS depending on speed and direction + # Limit to ~2 m/s^3 up, ~3 m/s^3 down at 75 mph + # Worst case, the low speed limits will allow 4.3 m/s^3 up, 4.9 m/s^3 down at 75 mph + ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.0002, 0.0001]) + ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000225, 0.00015]) + CURVATURE_ERROR = 0.002 # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s ACCEL_MAX = 2.0 # m/s^s max acceleration ACCEL_MIN = -3.5 # m/s^s max deceleration + MIN_GAS = -0.5 + INACTIVE_GAS = -5.0 def __init__(self, CP): pass @@ -66,21 +66,25 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base @dataclass class FordCarInfo(CarInfo): package: str = "Co-Pilot360 Assist+" - harness: Enum = Harness.ford_q3 + car_parts: CarParts = CarParts.common([CarPart.ford_q3]) + + def init_make(self, CP: car.CarParams): + if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1): + self.car_parts = CarParts.common([CarPart.ford_q3, CarPart.angled_mount], remove=[CarPart.mount]) CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"), CAR.ESCAPE_MK4: [ - FordCarInfo("Ford Escape 2020-21"), - FordCarInfo("Ford Kuga 2020-21", "Driver Assistance Pack"), + FordCarInfo("Ford Escape 2020-22"), + FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"), ], CAR.EXPLORER_MK6: [ FordCarInfo("Ford Explorer 2020-22"), FordCarInfo("Lincoln Aviator 2021", "Co-Pilot360 Plus"), ], - CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"), - CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022", "Co-Pilot360 Assist"), + CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2018", "Adaptive Cruise Control with Lane Centering"), + CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"), } FW_QUERY_CONFIG = FwQueryConfig( @@ -128,6 +132,7 @@ FW_VERSIONS = { (Ecu.eps, 0x730, None): [ b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x760, None): [ b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -145,19 +150,25 @@ FW_VERSIONS = { b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.shiftByWire, 0x732, None): [ b'LX6P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ1P-14G395-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], }, CAR.EXPLORER_MK6: { (Ecu.eps, 0x730, None): [ + b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x760, None): [ + b'L1MC-2D053-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -166,11 +177,14 @@ FW_VERSIONS = { b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x706, None): [ + b'LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7E0, None): [ + b'LB5A-14C204-ATJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -208,6 +222,7 @@ FW_VERSIONS = { ], (Ecu.abs, 0x760, None): [ b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -219,6 +234,7 @@ FW_VERSIONS = { b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.shiftByWire, 0x732, None): [ b'NZ6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py index c5d81eec5c..07f8e93273 100755 --- a/selfdrive/car/fw_query_definitions.py +++ b/selfdrive/car/fw_query_definitions.py @@ -1,5 +1,6 @@ #!/usr/bin/env python3 import capnp +import copy from dataclasses import dataclass, field import struct from typing import Callable, Dict, List, Optional, Tuple @@ -57,10 +58,12 @@ class Request: whitelist_ecus: List[int] = field(default_factory=list) rx_offset: int = 0x8 bus: int = 1 + # Whether this query should be run on the first auxiliary panda (CAN FD cars for example) + auxiliary: bool = False # FW responses from these queries will not be used for fingerprinting logging: bool = False - # These requests are done once OBD multiplexing is disabled, after all others - non_obd: bool = False + # boardd toggles OBD multiplexing on/off as needed + obd_multiplexing: bool = True @dataclass @@ -73,3 +76,10 @@ class FwQueryConfig: extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list) # A function that each make can provide to fuzzy fingerprint reliably on that make match_fw_to_car_fuzzy: Optional[Callable] = None + + def __post_init__(self): + for i in range(len(self.requests)): + if self.requests[i].auxiliary: + new_request = copy.deepcopy(self.requests[i]) + new_request.bus += 4 + self.requests.append(new_request) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 8f4339ddf7..5e62ae67c4 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -1,12 +1,12 @@ #!/usr/bin/env python3 from collections import defaultdict -from typing import Any, Optional, Set, Tuple +from typing import Any, Dict, List, Set from tqdm import tqdm import panda.python.uds as uds from cereal import car from common.params import Params -from selfdrive.car.ecu_addrs import get_ecu_addrs +from selfdrive.car.ecu_addrs import EcuAddrBusType, get_ecu_addrs from selfdrive.car.interfaces import get_interface_attr from selfdrive.car.fingerprints import FW_VERSIONS from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery @@ -19,7 +19,7 @@ FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True) VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True) MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e} -REQUESTS = [(brand, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests] +REQUESTS = [(brand, config, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests] def chunks(l, n=128): @@ -39,6 +39,8 @@ def build_fw_dict(fw_versions, filter_brand=None): def get_brand_addrs(): brand_addrs = defaultdict(set) for brand, cars in VERSIONS.items(): + # Add ecus in database + extra ecus to match against + brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in FW_QUERY_CONFIGS[brand].extra_ecus} for fw in cars.values(): brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()} return brand_addrs @@ -150,38 +152,43 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True): return True, set() -def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[Tuple[int, Optional[int], int]]: - queries = list() - parallel_queries = list() +def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]: + params = Params() + # queries are split by OBD multiplexing mode + queries: Dict[bool, List[List[EcuAddrBusType]]] = {True: [], False: []} + parallel_queries: Dict[bool, List[EcuAddrBusType]] = {True: [], False: []} responses = set() - for brand, r in REQUESTS: + for brand, config, r in REQUESTS: # Skip query if no panda available if r.bus > num_pandas * 4 - 1: continue for brand_versions in VERSIONS[brand].values(): - for ecu_type, addr, sub_addr in brand_versions: + for ecu_type, addr, sub_addr in list(brand_versions) + config.extra_ecus: # Only query ecus in whitelist if whitelist is not empty if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus: a = (addr, sub_addr, r.bus) # Build set of queries if sub_addr is None: - if a not in parallel_queries: - parallel_queries.append(a) + if a not in parallel_queries[r.obd_multiplexing]: + parallel_queries[r.obd_multiplexing].append(a) else: # subaddresses must be queried one by one - if [a] not in queries: - queries.append([a]) + if [a] not in queries[r.obd_multiplexing]: + queries[r.obd_multiplexing].append([a]) # Build set of expected responses to filter response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset) responses.add((response_addr, sub_addr, r.bus)) - queries.insert(0, parallel_queries) + for obd_multiplexing in queries: + queries[obd_multiplexing].insert(0, parallel_queries[obd_multiplexing]) ecu_responses = set() - for query in queries: - ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1)) + for obd_multiplexing in queries: + set_obd_multiplexing(params, obd_multiplexing) + for query in queries[obd_multiplexing]: + ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1)) return ecu_responses @@ -189,9 +196,9 @@ def get_brand_ecu_matches(ecu_rx_addrs): """Returns dictionary of brands and matches with ECUs in their FW versions""" brand_addrs = get_brand_addrs() - brand_matches = {brand: set() for brand, _ in REQUESTS} + brand_matches = {brand: set() for brand, _, _ in REQUESTS} - brand_rx_offsets = set((brand, r.rx_offset) for brand, r in REQUESTS) + brand_rx_offsets = set((brand, r.rx_offset) for brand, _, r in REQUESTS) for addr, sub_addr, _ in ecu_rx_addrs: # Since we can't know what request an ecu responded to, add matches for all possible rx offsets for brand, rx_offset in brand_rx_offsets: @@ -202,13 +209,13 @@ def get_brand_ecu_matches(ecu_rx_addrs): return brand_matches -def disable_obd_multiplexing(params): - if not params.get_bool("ObdMultiplexingDisabled"): - params.put_bool("FirmwareObdQueryDone", True) - - cloudlog.warning("Waiting for OBD multiplexing to be disabled") - params.get_bool("ObdMultiplexingDisabled", block=True) - cloudlog.warning("OBD multiplexing disabled") +def set_obd_multiplexing(params: Params, obd_multiplexing: bool): + if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing: + cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}") + params.remove("ObdMultiplexingChanged") + params.put_bool("ObdMultiplexingEnabled", obd_multiplexing) + params.get_bool("ObdMultiplexingChanged", block=True) + cloudlog.warning("OBD multiplexing set successfully") def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False): @@ -216,29 +223,25 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand all_car_fw = [] brand_matches = get_brand_ecu_matches(ecu_rx_addrs) - matched_brand: Optional[str] = None for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True): + # Skip this brand if there are no matching present ECUs + if not len(brand_matches[brand]): + continue + car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress) all_car_fw.extend(car_fw) # Try to match using FW returned from this brand only matches = match_fw_to_car_exact(build_fw_dict(car_fw)) if len(matches) == 1: - matched_brand = brand break - disable_obd_multiplexing(Params()) - - # Do non-OBD queries for matched brand, or all if no match is found - for brand in FW_QUERY_CONFIGS.keys(): - if brand == matched_brand or matched_brand is None: - all_car_fw.extend(get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, obd_multiplexed=False, debug=debug, progress=progress)) - return all_car_fw -def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, obd_multiplexed=True, debug=False, progress=False): +def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False): versions = VERSIONS.copy() + params = Params() # Each brand can define extra ECUs to query for data collection for brand, config in FW_QUERY_CONFIGS.items(): @@ -254,19 +257,15 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, # ECUs using a subaddress need be queried one by one, the rest can be done in parallel addrs = [] parallel_addrs = [] - logging_addrs = [] ecu_types = {} for brand, brand_versions in versions.items(): - for candidate, ecu in brand_versions.items(): + for ecu in brand_versions.values(): for ecu_type, addr, sub_addr in ecu.keys(): a = (brand, addr, sub_addr) if a not in ecu_types: ecu_types[a] = ecu_type - if a not in logging_addrs and candidate == "debug": - logging_addrs.append(a) - if sub_addr is None: if a not in parallel_addrs: parallel_addrs.append(a) @@ -278,16 +277,17 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, # Get versions and build capnp list to put into CarParams car_fw = [] - requests = [(brand, r) for brand, r in REQUESTS if query_brand is None or brand == query_brand] + requests = [(brand, config, r) for brand, config, r in REQUESTS if query_brand is None or brand == query_brand] for addr in tqdm(addrs, disable=not progress): for addr_chunk in chunks(addr): - for brand, r in requests: + for brand, config, r in requests: # Skip query if no panda available if r.bus > num_pandas * 4 - 1: continue - # Or if request is not designated for current multiplexing mode - elif r.non_obd == obd_multiplexed: - continue + + # Toggle OBD multiplexing for each request + if r.bus % 4 == 1: + set_obd_multiplexing(params, r.obd_multiplexing) try: addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and @@ -298,15 +298,15 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, for (tx_addr, sub_addr), version in query.get_data(timeout).items(): f = car.CarParams.CarFw.new_message() - ecu_key = (brand, tx_addr, sub_addr) - f.ecu = ecu_types.get(ecu_key, Ecu.unknown) + f.ecu = ecu_types.get((brand, tx_addr, sub_addr), Ecu.unknown) f.fwVersion = version f.address = tx_addr f.responseAddress = uds.get_rx_addr_for_tx_addr(tx_addr, r.rx_offset) f.request = r.request f.brand = brand f.bus = r.bus - f.logging = r.logging or ecu_key in logging_addrs + f.logging = r.logging or (f.ecu, tx_addr, sub_addr) in config.extra_ecus + f.obdMultiplexing = r.obd_multiplexing if sub_addr is not None: f.subAddress = sub_addr diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 73085d30b0..2a996c0ff6 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -3,7 +3,7 @@ from common.conversions import Conversions as CV from common.numpy_fast import interp from common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from selfdrive.car import apply_std_steer_torque_limits +from selfdrive.car import apply_driver_steer_torque_limits from selfdrive.car.gm import gmcan from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons @@ -30,7 +30,6 @@ class CarController: self.cancel_counter = 0 self.lka_steering_cmd_counter = 0 - self.sent_lka_steering_cmd = False self.lka_icon_status_last = (False, False) self.params = CarControllerParams(self.CP) @@ -59,24 +58,22 @@ class CarController: # - until we're in sync with camera so counters align when relay closes, preventing a fault. # openpilot can subtly drift, so this is activated throughout a drive to stay synced out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4 - if not self.sent_lka_steering_cmd or out_of_sync: + if CS.loopback_lka_steering_cmd_ts_nanos == 0 or out_of_sync: steer_step = self.params.STEER_STEP - if CS.loopback_lka_steering_cmd_updated: - self.lka_steering_cmd_counter += 1 - self.sent_lka_steering_cmd = True + self.lka_steering_cmd_counter += 1 if CS.loopback_lka_steering_cmd_updated else 0 # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we # received the ASCMLKASteeringCmd loopback confirmation too recently last_lka_steer_msg_ms = (now_nanos - CS.loopback_lka_steering_cmd_ts_nanos) * 1e-6 if (self.frame - self.last_steer_frame) >= steer_step and last_lka_steer_msg_ms > MIN_STEER_MSG_INTERVAL_MS: # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus - if not self.sent_lka_steering_cmd: + if CS.loopback_lka_steering_cmd_ts_nanos == 0: self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1 if CC.latActive: new_steer = int(round(actuators.steer * self.params.STEER_MAX)) - apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) + apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) else: apply_steer = 0 diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 3c7d35f2dc..2f9c952876 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -37,7 +37,8 @@ class CarState(CarStateBase): # Variables used for avoiding LKAS faults self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0 - self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"] + if self.loopback_lka_steering_cmd_updated: + self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"] if self.CP.networkLocation == NetworkLocation.fwdCamera: self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"] self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"] diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py index 63189bcd89..0de2066678 100644 --- a/selfdrive/car/gm/gmcan.py +++ b/selfdrive/car/gm/gmcan.py @@ -20,10 +20,20 @@ def create_buttons(packer, bus, idx, button): def create_pscm_status(packer, bus, pscm_status): - checksum_mod = int(1 - pscm_status["HandsOffSWlDetectionStatus"]) << 5 - pscm_status["HandsOffSWlDetectionStatus"] = 1 - pscm_status["PSCMStatusChecksum"] += checksum_mod - return packer.make_can_msg("PSCMStatus", bus, pscm_status) + values = {s: pscm_status[s] for s in [ + "HandsOffSWDetectionMode", + "HandsOffSWlDetectionStatus", + "LKATorqueDeliveredStatus", + "LKADriverAppldTrq", + "LKATorqueDelivered", + "LKATotalTorqueDelivered", + "RollingCounter", + "PSCMStatusChecksum", + ]} + checksum_mod = int(1 - values["HandsOffSWlDetectionStatus"]) << 5 + values["HandsOffSWlDetectionStatus"] = 1 + values["PSCMStatusChecksum"] += checksum_mod + return packer.make_can_msg("PSCMStatus", bus, values) def create_steering_control(packer, bus, apply_steer, idx, lkas_active): diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index c28274011e..ff578da986 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -1,14 +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.numpy_fast import interp 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.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR +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, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD -from selfdrive.controls.lib.drive_helpers import apply_center_deadzone +from selfdrive.controls.lib.drive_helpers import get_friction ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -46,35 +46,21 @@ class CarInterface(CarInterfaceBase): return CarInterfaceBase.get_steer_feedforward_default @staticmethod - def torque_from_lateral_accel_bolt(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, vego, friction_compensation): - 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 - steer_torque = lateral_accel_value / torque_params.latAccelFactor - - # TODO: - # 1. Learn the correction factors from data - # 2. Generalize the logic to other GM torque control platforms - steer_break_pts = [-1.0, -0.9, -0.75, -0.5, 0.0, 0.5, 0.75, 0.9, 1.0] - steer_lataccel_factors = [1.5, 1.15, 1.02, 1.0, 1.0, 1.0, 1.02, 1.15, 1.5] - steer_correction_factor = interp( - steer_torque, - steer_break_pts, - steer_lataccel_factors - ) - - vego_break_pts = [0.0, 10.0, 15.0, 20.0, 100.0] - vego_lataccel_factors = [1.5, 1.5, 1.25, 1.0, 1.0] - vego_correction_factor = interp( - vego, - vego_break_pts, - vego_lataccel_factors, - ) - - return (steer_torque + friction) / (steer_correction_factor * vego_correction_factor) + 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: @@ -83,7 +69,7 @@ class CarInterface(CarInterfaceBase): return self.torque_from_lateral_accel_linear @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "gm" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)] ret.autoResumeSng = False @@ -111,11 +97,9 @@ class CarInterface(CarInterfaceBase): # Tuning for experimental long ret.longitudinalTuning.kpV = [2.0, 1.5] ret.longitudinalTuning.kiV = [0.72] - ret.stopAccel = -2.0 ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling ret.vEgoStopping = 0.25 ret.vEgoStarting = 0.25 - ret.longitudinalActuatorDelayUpperBound = 0.5 if experimental_long: ret.pcmCruise = False @@ -125,7 +109,7 @@ class CarInterface(CarInterfaceBase): else: # ASCM, OBD-II harness ret.openpilotLongitudinalControl = True ret.networkLocation = NetworkLocation.gateway - ret.radarUnavailable = False + ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs ret.pcmCruise = False # stock non-adaptive cruise control is kept off # supports stop and go, but initial engage must (conservatively) be above 18mph ret.minEnableSpeed = 18 * CV.MPH_TO_MS @@ -138,7 +122,8 @@ class CarInterface(CarInterfaceBase): # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is # added to selfdrive/car/tests/routes.py, we can remove it from this list. - ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX} + ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX} or \ + (ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable) # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below. ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] @@ -149,6 +134,7 @@ class CarInterface(CarInterfaceBase): ret.steerLimitTimer = 0.4 ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz + ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking if candidate == CAR.VOLT: ret.mass = 1607. + STD_CARGO_KG @@ -184,7 +170,13 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.4 # end to end is 13.46 ret.centerToFront = ret.wheelbase * 0.4 ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia() - ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking + + elif candidate == CAR.BUICK_LACROSSE: + ret.mass = 1712. + STD_CARGO_KG + ret.wheelbase = 2.91 + ret.steerRatio = 15.8 + ret.centerToFront = ret.wheelbase * 0.4 # wild guess + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.BUICK_REGAL: ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2 @@ -223,7 +215,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 16.8 ret.centerToFront = ret.wheelbase * 0.4 tire_stiffness_factor = 1.0 - ret.steerActuatorDelay = 0.12 + ret.steerActuatorDelay = 0.2 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.SILVERADO: @@ -241,6 +233,15 @@ class CarInterface(CarInterfaceBase): ret.centerToFront = ret.wheelbase * 0.4 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + elif candidate == CAR.TRAILBLAZER: + ret.mass = 1345. + STD_CARGO_KG + ret.wheelbase = 2.64 + ret.steerRatio = 16.8 + ret.centerToFront = ret.wheelbase * 0.4 + tire_stiffness_factor = 1.0 + ret.steerActuatorDelay = 0.2 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 207af6bb05..60c76f135b 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -5,7 +5,7 @@ from typing import Dict, List, Union from cereal import car from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness +from selfdrive.car.docs_definitions import CarFootnote, CarInfo, CarPart, CarParts, Column Ecu = car.CarParams.Ecu @@ -66,12 +66,14 @@ class CAR: CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018" MALIBU = "CHEVROLET MALIBU PREMIER 2017" ACADIA = "GMC ACADIA DENALI 2018" + BUICK_LACROSSE = "BUICK LACROSSE 2017" BUICK_REGAL = "BUICK REGAL ESSENCE 2018" ESCALADE = "CADILLAC ESCALADE 2017" ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016" BOLT_EUV = "CHEVROLET BOLT EUV 2022" SILVERADO = "CHEVROLET SILVERADO 1500 2020" EQUINOX = "CHEVROLET EQUINOX 2019" + TRAILBLAZER = "CHEVROLET TRAILBLAZER 2021" class Footnote(Enum): @@ -87,9 +89,9 @@ class GMCarInfo(CarInfo): def init_make(self, CP: car.CarParams): if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera: - self.harness = Harness.gm + self.car_parts = CarParts.common([CarPart.gm]) else: - self.harness = Harness.obd_ii + self.car_parts = CarParts([CarPart.obd_ii, CarPart.long_obdc_cable, CarPart.usbc_coupler, CarPart.mount, CarPart.right_angle_obd_c_cable_1_5ft]) self.footnotes.append(Footnote.OBD_II) @@ -99,18 +101,20 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = { CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"), CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"), CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"), + CAR.BUICK_LACROSSE: GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"), CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"), CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"), CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"), CAR.BOLT_EUV: [ - GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", "https://youtu.be/xvwzGMUA210"), + GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"), GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"), ], CAR.SILVERADO: [ GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"), - GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", "https://youtu.be/5HbNoBLzRwE"), + GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"), ], CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"), + CAR.TRAILBLAZER: GMCarInfo("Chevrolet Trailblazer 2021-22"), } @@ -151,6 +155,15 @@ FINGERPRINTS = { # Volt Premier w/ ACC 2018 { 170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1516: 8, 1601: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2018: 8, 2020: 8, 2024: 8, 2028: 8 + }, + # Volt Premier 2018 w/ flashed firmware, no radar + { + 170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7 + }], + CAR.BUICK_LACROSSE: [ + # LaCrosse Premium AWD 2017 + { + 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8 }], CAR.BUICK_REGAL : [ # Regal TourX Essence w/ ACC 2018 @@ -196,6 +209,12 @@ FINGERPRINTS = { { 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7 }], + # Trailblazer also matches as a Silverado, so comment out to avoid conflicts. + # TODO: split with FW versions + CAR.TRAILBLAZER: [ + { + # 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8 + }], } DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')) @@ -203,6 +222,6 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_power EV_CAR = {CAR.VOLT, CAR.BOLT_EUV} # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness) -CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX} +CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER} STEER_THRESHOLD = 1.0 diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 4dc1dc8131..347c16c86f 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -1,7 +1,6 @@ from collections import namedtuple from cereal import car -from common.conversions import Conversions as CV from common.numpy_fast import clip, interp from common.realtime import DT_CTRL from opendbc.can.packer import CANPacker @@ -117,6 +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 @@ -127,7 +127,8 @@ class CarController: def update(self, CC, CS, now_nanos): actuators = CC.actuators hud_control = CC.hudControl - hud_v_cruise = hud_control.setSpeed * CV.MS_TO_KPH if hud_control.speedVisible else 255 + conversion = hondacan.get_cruise_speed_conversion(self.CP.carFingerprint, CS.is_metric) + hud_v_cruise = hud_control.setSpeed / conversion if hud_control.speedVisible else 255 pcm_cancel_cmd = CC.cruiseControl.cancel if CC.longActive: @@ -161,7 +162,7 @@ class CarController: can_sends = [] # tester present - w/ no response (keeps radar disabled) - if self.CP.carFingerprint in HONDA_BOSCH and self.CP.openpilotLongitudinalControl: + if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl: if self.frame % 10 == 0: can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1)) @@ -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/carstate.py b/selfdrive/car/honda/carstate.py index 16880d1b1f..bcc239c2df 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -5,7 +5,7 @@ from common.conversions import Conversions as CV from common.numpy_fast import interp from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser -from selfdrive.car.honda.hondacan import get_pt_bus +from selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS from selfdrive.car.interfaces import CarStateBase @@ -103,7 +103,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): else: checks.append(("CRUISE_PARAMS", 50)) - if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022): + if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G): signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK")) elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS")) @@ -120,7 +120,10 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR")) checks.append(("GAS_SENSOR", 50)) - if CP.openpilotLongitudinalControl: + if CP.carFingerprint in HONDA_BOSCH_RADARLESS: + signals.append(("CRUISE_FAULT", "CRUISE_FAULT_STATUS")) + checks.append(("CRUISE_FAULT_STATUS", 50)) + elif CP.openpilotLongitudinalControl: signals += [ ("BRAKE_ERROR_1", "STANDSTILL"), ("BRAKE_ERROR_2", "STANDSTILL") @@ -176,7 +179,7 @@ class CarState(CarStateBase): # panda checks if the signal is non-zero ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5 # TODO: find a common signal across all cars - if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022): + if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G): ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"]) elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"]) @@ -191,7 +194,9 @@ class CarState(CarStateBase): # NO_TORQUE_ALERT_2 can be caused by bump or steering nudge from driver ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2") - if self.CP.openpilotLongitudinalControl: + if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS: + self.brake_error = cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"] + elif self.CP.openpilotLongitudinalControl: self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"] ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0 @@ -246,8 +251,7 @@ class CarState(CarStateBase): ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0 ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252. - # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting - conversion = CV.MPH_TO_MS if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and not self.is_metric else CV.KPH_TO_MS + conversion = get_cruise_speed_conversion(self.CP.carFingerprint, self.is_metric) # On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this. ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion self.v_cruise_pcm_prev = ret.cruiseState.speed @@ -294,7 +298,7 @@ class CarState(CarStateBase): if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS: self.lkas_hud = cp_cam.vl["LKAS_HUD"] - if self.CP.enableBsm and self.CP.carFingerprint in (CAR.CRV_5G, ): + if self.CP.enableBsm: # BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0 # more info here: https://github.com/commaai/openpilot/pull/1867 ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1 @@ -341,7 +345,7 @@ class CarState(CarStateBase): @staticmethod def get_body_can_parser(CP): - if CP.enableBsm and CP.carFingerprint == CAR.CRV_5G: + if CP.enableBsm: signals = [("BSM_ALERT", "BSM_STATUS_RIGHT"), ("BSM_ALERT", "BSM_STATUS_LEFT")] diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index 17681444af..1fe0a13767 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -21,6 +21,11 @@ def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False): return 0 +def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float: + # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting + return CV.MPH_TO_MS if car_fingerprint in HONDA_BOSCH_RADARLESS and not is_metric else CV.KPH_TO_MS + + def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake): # TODO: do we loose pressure if we keep pump off for long? brakelights = apply_brake > 0 @@ -46,7 +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] @@ -55,30 +60,39 @@ 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 = { - # setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1 - "CONTROL_ON": control_on, - "GAS_COMMAND": gas_command, # used for gas - "ACCEL_COMMAND": accel_command, # used for brakes - "BRAKE_LIGHTS": braking, - "BRAKE_REQUEST": braking, - "STANDSTILL": standstill, - "STANDSTILL_RELEASE": standstill_release, + 'ACCEL_COMMAND': accel_command, + 'STANDSTILL': standstill, } - commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values)) - acc_control_on_values = { - "SET_TO_3": 0x03, - "CONTROL_ON": enabled, - "SET_TO_FF": 0xff, - "SET_TO_75": 0x75, - "SET_TO_30": 0x30, - } - commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values)) + if car_fingerprint in HONDA_BOSCH_RADARLESS: + acc_control_values.update({ + "CONTROL_ON": enabled, + "IDLESTOP_ALLOW": stopping_counter > 200, # allow idle stop after 4 seconds (50 Hz) + }) + else: + acc_control_values.update({ + # setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1 + "CONTROL_ON": control_on, + "GAS_COMMAND": gas_command, # used for gas + "BRAKE_LIGHTS": braking, + "BRAKE_REQUEST": braking, + "STANDSTILL_RELEASE": standstill_release, + }) + acc_control_on_values = { + "SET_TO_3": 0x03, + "CONTROL_ON": enabled, + "SET_TO_FF": 0xff, + "SET_TO_75": 0x75, + "SET_TO_30": 0x30, + } + commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values)) + commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values)) return commands diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index d3cf9fa891..65deab7401 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -31,19 +31,17 @@ class CarInterface(CarInterfaceBase): return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS) @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "honda" if candidate in HONDA_BOSCH: ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)] ret.radarUnavailable = True - - if candidate not in HONDA_BOSCH_RADARLESS: - # Disable the radar and let openpilot control longitudinal - # WARNING: THIS DISABLES AEB! - ret.experimentalLongitudinalAvailable = True - ret.openpilotLongitudinalControl = experimental_long - + # Disable the radar and let openpilot control longitudinal + # WARNING: THIS DISABLES AEB! + # If Bosch radarless, this blocks ACC messages from the camera + ret.experimentalLongitudinalAvailable = True + ret.openpilotLongitudinalControl = experimental_long ret.pcmCruise = not ret.openpilotLongitudinalControl else: ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)] @@ -75,6 +73,8 @@ class CarInterface(CarInterfaceBase): ret.longitudinalTuning.kpV = [0.25] ret.longitudinalTuning.kiV = [0.05] ret.longitudinalActuatorDelayUpperBound = 0.5 # s + if candidate in HONDA_BOSCH_RADARLESS: + 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.] @@ -193,15 +193,18 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.75 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] - elif candidate == CAR.HRV: + elif candidate in (CAR.HRV, CAR.HRV_3G): ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.61 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 15.2 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] tire_stiffness_factor = 0.5 - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]] - ret.wheelSpeedFactor = 1.025 + if candidate == CAR.HRV: + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]] + ret.wheelSpeedFactor = 1.025 + else: + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning elif candidate == CAR.ACURA_RDX: ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG diff --git a/selfdrive/loggerd/__init__.py b/selfdrive/car/honda/tests/__init__.py similarity index 100% rename from selfdrive/loggerd/__init__.py rename to selfdrive/car/honda/tests/__init__.py diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index c085c3fe80..d19281fce7 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -6,7 +6,7 @@ from cereal import car from common.conversions import Conversions as CV from panda.python import uds from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness +from selfdrive.car.docs_definitions import CarFootnote, CarInfo, CarPart, CarParts, Column from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 Ecu = car.CarParams.Ecu @@ -87,6 +87,7 @@ class CAR: FIT = "HONDA FIT 2018" FREED = "HONDA FREED 2020" HRV = "HONDA HRV 2019" + HRV_3G = "HONDA HR-V 2023" ODYSSEY = "HONDA ODYSSEY 2018" ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019" ACURA_RDX = "ACURA RDX 2018" @@ -109,26 +110,26 @@ class HondaCarInfo(CarInfo): def init_make(self, CP: car.CarParams): if CP.carFingerprint in HONDA_BOSCH: - self.harness = Harness.bosch_b if CP.carFingerprint in HONDA_BOSCH_RADARLESS else Harness.bosch_a + self.car_parts = CarParts.common([CarPart.bosch_b]) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else CarParts.common([CarPart.bosch_a]) else: - self.harness = Harness.nidec + self.car_parts = CarParts.common([CarPart.nidec]) CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.ACCORD: [ - HondaCarInfo("Honda Accord 2018-22", "All", "https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS), + HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS), HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS), ], CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"), CAR.CIVIC_BOSCH: [ - HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], 2. * CV.MPH_TO_MS), + HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS), HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS), ], CAR.CIVIC_BOSCH_DIESEL: None, # same platform CAR.CIVIC_2022: [ - HondaCarInfo("Honda Civic 2022", "All"), - HondaCarInfo("Honda Civic Hatchback 2022", "All"), + HondaCarInfo("Honda Civic 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), + HondaCarInfo("Honda Civic Hatchback 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), ], CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS), CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS), @@ -138,15 +139,16 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS), CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS), CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS), + CAR.HRV_3G: HondaCarInfo("Honda HR-V 2023", "All"), CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20"), CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS), CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.PILOT: [ HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS), - HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS), + HondaCarInfo("Honda Passport 2019-22", "All", min_steer_speed=12. * CV.MPH_TO_MS), ], - CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", min_steer_speed=12. * CV.MPH_TO_MS), + CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-23", min_steer_speed=12. * CV.MPH_TO_MS), CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS), } @@ -186,7 +188,7 @@ FW_QUERY_CONFIG = FwQueryConfig( [StdQueries.UDS_VERSION_RESPONSE], bus=1, logging=True, - non_obd=True, + obd_multiplexing=False, ), ], extra_ecus=[ @@ -368,10 +370,12 @@ FW_VERSIONS = { b'57114-TWA-A050\x00\x00', b'57114-TWA-A530\x00\x00', b'57114-TWA-B520\x00\x00', + b'57114-TWB-H030\x00\x00', ], (Ecu.srs, 0x18da53f1, None): [ b'77959-TWA-A440\x00\x00', b'77959-TWA-L420\x00\x00', + b'77959-TWB-H220\x00\x00', ], (Ecu.combinationMeter, 0x18da60f1, None): [ b'78109-TWA-A010\x00\x00', @@ -385,6 +389,7 @@ FW_VERSIONS = { b'78109-TWA-A230\x00\x00', b'78109-TWA-L010\x00\x00', b'78109-TWA-L210\x00\x00', + b'78109-TWA-H210\x00\x00', ], (Ecu.shiftByWire, 0x18da0bf1, None): [ b'54008-TWA-A910\x00\x00', @@ -396,16 +401,19 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x18dab5f1, None): [ b'36161-TWA-A070\x00\x00', b'36161-TWA-A330\x00\x00', + b'36161-TWB-H040\x00\x00', ], (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36802-TWA-A070\x00\x00', b'36802-TWA-A080\x00\x00', b'36802-TWA-A330\x00\x00', + b'36802-TWB-H060\x00\x00', ], (Ecu.eps, 0x18da30f1, None): [ b'39990-TVA-A160\x00\x00', b'39990-TVA-A150\x00\x00', b'39990-TVA-A340\x00\x00', + b'39990-TWB-H120\x00\x00', ], }, CAR.CIVIC: { @@ -1106,6 +1114,7 @@ FW_VERSIONS = { b'28101-5EZ-A210\x00\x00', b'28101-5EZ-A600\x00\x00', b'28101-5EZ-A430\x00\x00', + b'28101-5EZ-A700\x00\x00', ], (Ecu.programmedFuelInjection, 0x18da10f1, None): [ b'37805-RLV-4060\x00\x00', @@ -1120,6 +1129,7 @@ FW_VERSIONS = { b'37805-RLV-B220\x00\x00', b'37805-RLV-B210\x00\x00', b'37805-RLV-L160\x00\x00', + b'37805-RLV-B420\x00\x00', ], (Ecu.gateway, 0x18daeff1, None): [ b'38897-TG7-A030\x00\x00', @@ -1133,6 +1143,7 @@ FW_VERSIONS = { b'39990-TG7-A060\x00\x00', b'39990-TG7-A070\x00\x00', b'39990-TGS-A230\x00\x00', + b'39990-TGS-A320\x00\x00', ], (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36161-TG7-A310\x00\x00', @@ -1153,6 +1164,7 @@ FW_VERSIONS = { b'36161-TGT-A030\x00\x00', b'36161-TGT-A130\x00\x00', b'36161-TGS-A030\x00\x00', + b'36161-TGS-A220\x00\x00', ], (Ecu.srs, 0x18da53f1, None): [ b'77959-TG7-A020\x00\x00', @@ -1160,6 +1172,7 @@ FW_VERSIONS = { b'77959-TG7-A210\x00\x00', b'77959-TG7-Y210\x00\x00', b'77959-TGS-A010\x00\x00', + b'77959-TGS-A110\x00\x00', ], (Ecu.combinationMeter, 0x18da60f1, None): [ b'78109-TG7-A040\x00\x00', @@ -1193,6 +1206,7 @@ FW_VERSIONS = { b'78109-TGS-AT20\x00\x00', b'78109-TGS-AX20\x00\x00', b'78109-TGS-AJ20\x00\x00', + b'78109-TGS-AC10\x00\x00', ], (Ecu.vsa, 0x18da28f1, None): [ b'57114-TG7-A130\x00\x00', @@ -1240,6 +1254,7 @@ FW_VERSIONS = { b'37805-5YF-A750\x00\x00', b'37805-5YF-A850\x00\x00', b'37805-5YF-A870\x00\x00', + b'37805-5YF-AD20\x00\x00', b'37805-5YF-C210\x00\x00', b'37805-5YF-C220\x00\x00', b'37805-5YF-C410\000\000', @@ -1248,16 +1263,20 @@ FW_VERSIONS = { (Ecu.vsa, 0x18da28f1, None): [ b'57114-TJB-A030\x00\x00', b'57114-TJB-A040\x00\x00', + b'57114-TJB-A120\x00\x00', ], (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36802-TJB-A040\x00\x00', b'36802-TJB-A050\x00\x00', + b'36802-TJB-A540\x00\x00', ], (Ecu.fwdCamera, 0x18dab5f1, None): [ b'36161-TJB-A040\x00\x00', + b'36161-TJB-A530\x00\x00', ], (Ecu.shiftByWire, 0x18da0bf1, None): [ b'54008-TJB-A520\x00\x00', + b'54008-TJB-A530\x00\x00', ], (Ecu.transmission, 0x18da1ef1, None): [ b'28102-5YK-A610\x00\x00', @@ -1265,6 +1284,7 @@ FW_VERSIONS = { b'28102-5YK-A630\x00\x00', b'28102-5YK-A700\x00\x00', b'28102-5YK-A711\x00\x00', + b'28102-5YK-A800\x00\x00', b'28102-5YL-A620\x00\x00', b'28102-5YL-A700\x00\x00', b'28102-5YL-A711\x00\x00', @@ -1276,6 +1296,7 @@ FW_VERSIONS = { b'78109-TJB-AB10\x00\x00', b'78109-TJB-AD10\x00\x00', b'78109-TJB-AF10\x00\x00', + b'78109-TJB-AQ20\x00\x00', b'78109-TJB-AR10\x00\x00', b'78109-TJB-AS10\000\000', b'78109-TJB-AU10\x00\x00', @@ -1287,22 +1308,26 @@ FW_VERSIONS = { ], (Ecu.srs, 0x18da53f1, None): [ b'77959-TJB-A040\x00\x00', + b'77959-TJB-A120\x00\x00', b'77959-TJB-A210\x00\x00', ], (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ b'46114-TJB-A040\x00\x00', b'46114-TJB-A050\x00\x00', b'46114-TJB-A060\x00\x00', + b'46114-TJB-A120\x00\x00', ], (Ecu.gateway, 0x18daeff1, None): [ b'38897-TJB-A040\x00\x00', b'38897-TJB-A110\x00\x00', b'38897-TJB-A120\x00\x00', + b'38897-TJB-A220\x00\x00', ], (Ecu.eps, 0x18da30f1, None): [ b'39990-TJB-A030\x00\x00', b'39990-TJB-A040\x00\x00', - b'39990-TJB-A130\x00\x00' + b'39990-TJB-A070\x00\x00', + b'39990-TJB-A130\x00\x00', ], }, CAR.RIDGELINE: { @@ -1402,6 +1427,32 @@ FW_VERSIONS = { b'78109-THW-A110\x00\x00', ], }, + CAR.HRV_3G: { + (Ecu.eps, 0x18DA30F1, None): [ + b'39990-3W0-A030\x00\x00', + ], + (Ecu.gateway, 0x18DAEFF1, None): [ + b'38897-3W1-A010\x00\x00', + ], + (Ecu.srs, 0x18DA53F1, None): [ + b'77959-3V0-A820\x00\x00', + ], + (Ecu.combinationMeter, 0x18DA60F1, None): [ + b'78108-3V1-A220\x00\x00', + ], + (Ecu.vsa, 0x18DA28F1, None): [ + b'57114-3W0-A040\x00\x00', + ], + (Ecu.transmission, 0x18DA1EF1, None): [ + b'28101-6EH-A010\x00\x00', + ], + (Ecu.programmedFuelInjection, 0x18DA10F1, None): [ + b'37805-6CT-A710\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18DA2BF1, None): [ + b'46114-3W0-A020\x00\x00', + ], + }, CAR.ACURA_ILX: { (Ecu.gateway, 0x18daeff1, None): [ b'38897-TX6-A010\x00\x00', @@ -1520,6 +1571,7 @@ DBC = { CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), + CAR.HRV_3G: dbc_dict('honda_civic_ex_2022_can_generated', None), CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'), CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'), CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), @@ -1539,6 +1591,6 @@ HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY} HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN, CAR.PILOT, CAR.RIDGELINE} HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, - CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022} -HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G} -HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022} + CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G} +HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G, CAR.HRV_3G} +HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G} diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 1e6f78af20..11ff2fb6e4 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -3,8 +3,9 @@ from common.conversions import Conversions as CV from common.numpy_fast import clip from common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from selfdrive.car import apply_std_steer_torque_limits +from selfdrive.car import apply_driver_steer_torque_limits from selfdrive.car.hyundai import hyundaicanfd, hyundaican +from selfdrive.car.hyundai.hyundaicanfd import CanBus from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -44,6 +45,7 @@ def process_hud_alert(enabled, fingerprint, hud_control): class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP + self.CAN = CanBus(CP) self.params = CarControllerParams(CP) self.packer = CANPacker(dbc_name) self.angle_limit_counter = 0 @@ -60,7 +62,7 @@ class CarController: # steering torque new_steer = int(round(actuators.steer * self.params.STEER_MAX)) - apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) + apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) if not CC.latActive: apply_steer = 0 @@ -85,12 +87,12 @@ class CarController: # for longitudinal control, either radar or ADAS driving ECU addr, bus = 0x7d0, 0 if self.CP.flags & HyundaiFlags.CANFD_HDA2.value: - addr, bus = 0x730, 5 + addr, bus = 0x730, self.CAN.ECAN can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus]) # for blinkers if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: - can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 5]) + can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN]) # >90 degree steering fault prevention # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault @@ -112,25 +114,25 @@ class CarController: hda2_long = hda2 and self.CP.openpilotLongitudinalControl # steering control - can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, CC.enabled, lat_active, apply_steer)) + can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, lat_active, apply_steer)) # disable LFA on HDA2 if self.frame % 5 == 0 and hda2: - can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, CS.cam_0x2a4)) + can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CAN, CS.cam_0x2a4)) # LFA and HDA icons if self.frame % 5 == 0 and (not hda2 or hda2_long): - can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CP, CC.enabled)) + can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled)) # blinkers if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: - can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.frame, CC.leftBlinker, CC.rightBlinker)) + can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker)) if self.CP.openpilotLongitudinalControl: if hda2: - can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame)) + can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame)) if self.frame % 2 == 0: - can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CP, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override, + can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override, set_speed_in_units)) self.accel_last = accel else: @@ -139,11 +141,11 @@ class CarController: # cruise cancel if CC.cruiseControl.cancel: if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: - can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, CS.cruise_info)) + can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info)) self.last_button_frame = self.frame else: for _ in range(20): - can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.CANCEL)) + can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL)) self.last_button_frame = self.frame # cruise standstill resume @@ -153,7 +155,7 @@ class CarController: pass else: for _ in range(20): - can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.RES_ACCEL)) + can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL)) self.last_button_frame = self.frame else: can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active, diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 22934c05b2..cec2c3e69e 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -6,8 +6,8 @@ from cereal import car from common.conversions import Conversions as CV from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine -from selfdrive.car.hyundai.hyundaicanfd import get_e_can_bus -from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams +from selfdrive.car.hyundai.hyundaicanfd import CanBus +from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams from selfdrive.car.interfaces import CarStateBase PREV_BUTTON_SAMPLES = 8 @@ -27,9 +27,9 @@ class CarState(CarStateBase): "GEAR_SHIFTER" if CP.carFingerprint in CANFD_CAR: self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"] - elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]: + elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]: self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"] - elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]: + elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]: self.shifter_values = can_define.dv["TCU12"]["CUR_GR"] else: # preferred and elect gear methods use same definition self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"] @@ -123,11 +123,11 @@ class CarState(CarStateBase): # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection, # as this seems to be standard over all cars, but is not the preferred method. - if self.CP.carFingerprint in FEATURES["use_cluster_gears"]: + if self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]: gear = cp.vl["CLU15"]["CF_Clu_Gear"] - elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]: + elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]: gear = cp.vl["TCU12"]["CUR_GR"] - elif self.CP.carFingerprint in FEATURES["use_elect_gears"]: + elif self.CP.carFingerprint in CAN_GEARS["use_elect_gears"]: gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"] else: gear = cp.vl["LVR12"]["CF_Lvr_Gear"] @@ -354,12 +354,12 @@ class CarState(CarStateBase): ("EMS16", 100), ] - if CP.carFingerprint in FEATURES["use_cluster_gears"]: + if CP.carFingerprint in CAN_GEARS["use_cluster_gears"]: signals.append(("CF_Clu_Gear", "CLU15")) - elif CP.carFingerprint in FEATURES["use_tcu_gears"]: + elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]: signals.append(("CUR_GR", "TCU12")) checks.append(("TCU12", 100)) - elif CP.carFingerprint in FEATURES["use_elect_gears"]: + elif CP.carFingerprint in CAN_GEARS["use_elect_gears"]: signals.append(("Elect_Gear_Shifter", "ELECT_GEAR")) checks.append(("ELECT_GEAR", 20)) else: @@ -516,7 +516,7 @@ class CarState(CarStateBase): ("ACCELERATOR_BRAKE_ALT", 100), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, get_e_can_bus(CP)) + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).ECAN) @staticmethod def get_cam_can_parser_canfd(CP): @@ -543,4 +543,4 @@ class CarState(CarStateBase): ("SCC_CONTROL", 50), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6) + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).CAM) diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index 858f3d0876..f23d9d5328 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -7,7 +7,23 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, torque_fault, lkas11, sys_warning, sys_state, enabled, left_lane, right_lane, left_lane_depart, right_lane_depart): - values = lkas11 + values = {s: lkas11[s] for s in [ + "CF_Lkas_LdwsActivemode", + "CF_Lkas_LdwsSysState", + "CF_Lkas_SysWarning", + "CF_Lkas_LdwsLHWarning", + "CF_Lkas_LdwsRHWarning", + "CF_Lkas_HbaLamp", + "CF_Lkas_FcwBasReq", + "CF_Lkas_HbaSysState", + "CF_Lkas_FcwOpt", + "CF_Lkas_HbaOpt", + "CF_Lkas_FcwSysState", + "CF_Lkas_FcwCollisionWarning", + "CF_Lkas_FusionState", + "CF_Lkas_FcwOpt_USM", + "CF_Lkas_LdwsOpt_USM", + ]} values["CF_Lkas_LdwsSysState"] = sys_state values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0 values["CF_Lkas_LdwsLHWarning"] = left_lane_depart @@ -79,7 +95,20 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, def create_clu11(packer, frame, clu11, button, car_fingerprint): - values = clu11 + values = {s: clu11[s] for s in [ + "CF_Clu_CruiseSwState", + "CF_Clu_CruiseSwMain", + "CF_Clu_SldMainSW", + "CF_Clu_ParityBit1", + "CF_Clu_VanzDecimal", + "CF_Clu_Vanz", + "CF_Clu_SPEED_UNIT", + "CF_Clu_DetentOut", + "CF_Clu_RheostatLevel", + "CF_Clu_CluInfo", + "CF_Clu_AmpInfo", + "CF_Clu_AliveCnt1", + ]} values["CF_Clu_CruiseSwState"] = button values["CF_Clu_AliveCnt1"] = frame % 0x10 # send buttons to camera on camera-scc based cars diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index af7239571c..da9cff8225 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -1,14 +1,44 @@ +import math + from common.numpy_fast import clip from selfdrive.car.hyundai.values import HyundaiFlags -def get_e_can_bus(CP): - # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars - # have a different harness than the HDA1 and non-HDA variants in order to split - # a different bus, since the steering is done by different ECUs. - return 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4 +class CanBus: + def __init__(self, CP, hda2=None, fingerprint=None): + if CP is None: + assert None not in (hda2, fingerprint) + num = math.ceil(max([k for k, v in fingerprint.items() if len(v)], default=1) / 4) + else: + hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value + num = len(CP.safetyConfigs) + + # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars + # have a different harness than the HDA1 and non-HDA variants in order to split + # a different bus, since the steering is done by different ECUs. + self._a, self._e = 1, 0 + if hda2: + self._a, self._e = 0, 1 + + offset = 4*(num - 1) + self._a += offset + self._e += offset + self._cam = 2 + offset + + @property + def ECAN(self): + return self._e + + @property + def ACAN(self): + return self._a -def create_steering_messages(packer, CP, enabled, lat_active, apply_steer): + @property + def CAM(self): + return self._cam + + +def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer): ret = [] @@ -26,45 +56,67 @@ def create_steering_messages(packer, CP, enabled, lat_active, apply_steer): if CP.flags & HyundaiFlags.CANFD_HDA2: if CP.openpilotLongitudinalControl: - ret.append(packer.make_can_msg("LFA", 5, values)) - ret.append(packer.make_can_msg("LKAS", 4, values)) + ret.append(packer.make_can_msg("LFA", CAN.ECAN, values)) + ret.append(packer.make_can_msg("LKAS", CAN.ACAN, values)) else: - ret.append(packer.make_can_msg("LFA", 4, values)) + ret.append(packer.make_can_msg("LFA", CAN.ECAN, values)) return ret -def create_cam_0x2a4(packer, camera_values): - camera_values.update({ - "BYTE7": 0, - }) - return packer.make_can_msg("CAM_0x2a4", 4, camera_values) +def create_cam_0x2a4(packer, CAN, cam_0x2a4): + values = {f"BYTE{i}": cam_0x2a4[f"BYTE{i}"] for i in range(3, 24)} + values['COUNTER'] = cam_0x2a4['COUNTER'] + values["BYTE7"] = 0 + return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, values) -def create_buttons(packer, CP, cnt, btn): +def create_buttons(packer, CP, CAN, cnt, btn): values = { "COUNTER": cnt, "SET_ME_1": 1, "CRUISE_BUTTONS": btn, } - bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 6 + bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM return packer.make_can_msg("CRUISE_BUTTONS", bus, values) -def create_acc_cancel(packer, CP, cruise_info_copy): - values = cruise_info_copy +def create_acc_cancel(packer, CP, CAN, cruise_info_copy): + # TODO: why do we copy different values here? + if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value: + values = {s: cruise_info_copy[s] for s in [ + "COUNTER", + "CHECKSUM", + "NEW_SIGNAL_1", + "MainMode_ACC", + "ACCMode", + "CRUISE_INACTIVE", + "ZEROS_9", + "CRUISE_STANDSTILL", + "ZEROS_5", + "DISTANCE_SETTING", + "VSetDis", + ]} + else: + values = {s: cruise_info_copy[s] for s in [ + "COUNTER", + "CHECKSUM", + "ACCMode", + "VSetDis", + "CRUISE_STANDSTILL", + ]} values.update({ "ACCMode": 4, }) - return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values) + return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values) -def create_lfahda_cluster(packer, CP, enabled): +def create_lfahda_cluster(packer, CAN, enabled): values = { "HDA_ICON": 1 if enabled else 0, "LFA_ICON": 2 if enabled else 0, } - return packer.make_can_msg("LFAHDA_CLUSTER", get_e_can_bus(CP), values) + return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values) -def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_override, set_speed): +def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed): jerk = 5 jn = jerk / 50 if not enabled or gas_override: @@ -92,15 +144,15 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove "DISTANCE_SETTING": 4, } - return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values) + return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values) -def create_spas_messages(packer, frame, left_blink, right_blink): +def create_spas_messages(packer, CAN, frame, left_blink, right_blink): ret = [] values = { } - ret.append(packer.make_can_msg("SPAS1", 5, values)) + ret.append(packer.make_can_msg("SPAS1", CAN.ECAN, values)) blink = 0 if left_blink: @@ -110,12 +162,12 @@ def create_spas_messages(packer, frame, left_blink, right_blink): values = { "BLINKER_CONTROL": blink, } - ret.append(packer.make_can_msg("SPAS2", 5, values)) + ret.append(packer.make_can_msg("SPAS2", CAN.ECAN, values)) return ret -def create_adrv_messages(packer, frame): +def create_adrv_messages(packer, CAN, frame): # messages needed to car happy after disabling # the ADAS Driving ECU to do longitudinal control @@ -123,7 +175,7 @@ def create_adrv_messages(packer, frame): values = { } - ret.append(packer.make_can_msg("ADRV_0x51", 4, values)) + ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values)) if frame % 2 == 0: values = { @@ -133,7 +185,7 @@ def create_adrv_messages(packer, frame): 'SET_ME_FC': 0xfc, 'SET_ME_9': 0x9, } - ret.append(packer.make_can_msg("ADRV_0x160", 5, values)) + ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values)) if frame % 5 == 0: values = { @@ -142,25 +194,25 @@ def create_adrv_messages(packer, frame): 'SET_ME_TMP_F': 0xf, 'SET_ME_TMP_F_2': 0xf, } - ret.append(packer.make_can_msg("ADRV_0x1ea", 5, values)) + ret.append(packer.make_can_msg("ADRV_0x1ea", CAN.ECAN, values)) values = { 'SET_ME_E1': 0xe1, 'SET_ME_3A': 0x3a, } - ret.append(packer.make_can_msg("ADRV_0x200", 5, values)) + ret.append(packer.make_can_msg("ADRV_0x200", CAN.ECAN, values)) if frame % 20 == 0: values = { 'SET_ME_15': 0x15, } - ret.append(packer.make_can_msg("ADRV_0x345", 5, values)) + ret.append(packer.make_can_msg("ADRV_0x345", CAN.ECAN, values)) if frame % 100 == 0: values = { 'SET_ME_22': 0x22, 'SET_ME_41': 0x41, } - ret.append(packer.make_can_msg("ADRV_0x1da", 5, values)) + ret.append(packer.make_can_msg("ADRV_0x1da", CAN.ECAN, values)) return ret diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index d2cc5b4ec0..59d7319de0 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -2,6 +2,7 @@ from cereal import car from panda import Panda from common.conversions import Conversions as CV +from selfdrive.car.hyundai.hyundaicanfd import CanBus from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config @@ -18,7 +19,7 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "hyundai" ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None @@ -27,17 +28,20 @@ class CarInterface(CarInterfaceBase): # added to selfdrive/car/tests/routes.py, we can remove it from this list. ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, } + hda2 = Ecu.adas in [fw.ecu for fw in car_fw] + CAN = CanBus(None, hda2, fingerprint) + if candidate in CANFD_CAR: # detect HDA2 with ADAS Driving ECU - if Ecu.adas in [fw.ecu for fw in car_fw]: + if hda2: ret.flags |= HyundaiFlags.CANFD_HDA2.value else: # non-HDA2 - if 0x1cf not in fingerprint[4]: + if 0x1cf not in fingerprint[CAN.ECAN]: ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value # ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead - if 0x130 not in fingerprint[4]: - if 0x40 not in fingerprint[4]: + if 0x130 not in fingerprint[CAN.ECAN]: + if 0x40 not in fingerprint[CAN.ECAN]: ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value else: ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value @@ -103,18 +107,13 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.6 ret.steerRatio = 13.42 # Spec tire_stiffness_factor = 0.385 - elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022): + elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019, CAR.IONIQ_HEV_2022, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV): ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx ret.wheelbase = 2.7 ret.steerRatio = 13.73 # Spec tire_stiffness_factor = 0.385 - if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022): + if candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019): ret.minSteerSpeed = 32 * CV.MPH_TO_MS - elif candidate == CAR.IONIQ_PHEV_2019: - ret.mass = 1550. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/us/en/vehicles/2019-ioniq-plug-in-hybrid/compare-specs - ret.wheelbase = 2.7 - ret.steerRatio = 13.73 - ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.VELOSTER: ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 @@ -140,10 +139,10 @@ class CarInterface(CarInterfaceBase): ret.mass = 1985. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable - elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN): - ret.mass = 3452. * CV.LB_TO_KG + STD_CARGO_KG # average of all the cars + elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN): + ret.mass = 3543. * CV.LB_TO_KG + STD_CARGO_KG # average of all the cars ret.wheelbase = 2.7 - ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73 # Spec + ret.steerRatio = 13.6 # average of all the cars tire_stiffness_factor = 0.385 if candidate == CAR.KIA_NIRO_PHEV: ret.minSteerSpeed = 32 * CV.MPH_TO_MS @@ -230,6 +229,10 @@ class CarInterface(CarInterfaceBase): ret.mass = 2200 ret.wheelbase = 3.15 ret.steerRatio = 12.069 + elif candidate == CAR.GENESIS_GV80: + ret.mass = 2258. + STD_CARGO_KG + ret.wheelbase = 2.95 + ret.steerRatio = 14.14 # *** longitudinal control *** if candidate in CANFD_CAR: @@ -252,22 +255,23 @@ class CarInterface(CarInterfaceBase): # *** feature detection *** if candidate in CANFD_CAR: - bus = 5 if ret.flags & HyundaiFlags.CANFD_HDA2 else 4 - ret.enableBsm = 0x1e5 in fingerprint[bus] + ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN] else: ret.enableBsm = 0x58b in fingerprint[0] # *** panda safety config *** if candidate in CANFD_CAR: - ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput), - get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)] + cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ] + if CAN.ECAN >= 4: + cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput)) + ret.safetyConfigs = cfgs if ret.flags & HyundaiFlags.CANFD_HDA2: - ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2 + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2 if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS: - ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC: - ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC else: if candidate in LEGACY_SAFETY_MODE_CAR: # these cars require a special panda safety mode due to missing counters and checksums in the messages @@ -302,12 +306,12 @@ class CarInterface(CarInterfaceBase): if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value): addr, bus = 0x7d0, 0 if CP.flags & HyundaiFlags.CANFD_HDA2.value: - addr, bus = 0x730, 5 + addr, bus = 0x730, CanBus(CP).ECAN disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01') # for blinkers if CP.flags & HyundaiFlags.ENABLE_BLINKERS: - disable_ecu(logcan, sendcan, bus=5, addr=0x7B1, com_cont_req=b'\x28\x83\x01') + disable_ecu(logcan, sendcan, bus=CanBus(CP.ECAN), addr=0x7B1, com_cont_req=b'\x28\x83\x01') def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) diff --git a/selfdrive/loggerd/tests/__init__.py b/selfdrive/car/hyundai/tests/__init__.py similarity index 100% rename from selfdrive/loggerd/tests/__init__.py rename to selfdrive/car/hyundai/tests/__init__.py diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py index 0f419c1a2b..e7b48822bf 100755 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -2,16 +2,21 @@ import unittest from cereal import car -from selfdrive.car.hyundai.values import CANFD_CAR, FW_QUERY_CONFIG, FW_VERSIONS +from selfdrive.car.hyundai.values import CANFD_CAR, FW_QUERY_CONFIG, FW_VERSIONS, CAN_GEARS, LEGACY_SAFETY_MODE_CAR, CHECKSUM, CAMERA_SCC_CAR Ecu = car.CarParams.Ecu ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} class TestHyundaiFingerprint(unittest.TestCase): + def test_canfd_not_in_can_features(self): + can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, CAMERA_SCC_CAR) + for car_model in CANFD_CAR: + self.assertNotIn(car_model, can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list") + def test_auxiliary_request_ecu_whitelist(self): # Asserts only auxiliary Ecus can exist in database for CAN-FD cars - whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.bus > 3} + whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.auxiliary} for car_model in CANFD_CAR: ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()} diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index a10b3e8ad9..046a5713a3 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -6,7 +6,7 @@ from cereal import car from panda.python import uds from common.conversions import Conversions as CV from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness +from selfdrive.car.docs_definitions import CarFootnote, CarInfo, CarPart, CarParts, Column from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 Ecu = car.CarParams.Ecu @@ -100,6 +100,7 @@ class CAR: KIA_K5_2021 = "KIA K5 2021" KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020" KIA_NIRO_EV = "KIA NIRO EV 2020" + KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN" KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019" KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021" KIA_NIRO_HEV_2ND_GEN = "KIA NIRO HYBRID 2ND GEN" @@ -124,6 +125,7 @@ class CAR: GENESIS_GV70_1ST_GEN = "GENESIS GV70 1ST GEN" GENESIS_G80 = "GENESIS G80 2017" GENESIS_G90 = "GENESIS G90 2017" + GENESIS_GV80 = "GENESIS GV80 2023" class Footnote(Enum): @@ -145,107 +147,114 @@ class HyundaiCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.ELANTRA: [ - HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b), - HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness=Harness.hyundai_e), - HyundaiCarInfo("Hyundai i30 2017-19", harness=Harness.hyundai_e), + HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarPart.hyundai_b])), + HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarPart.hyundai_e])), + HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarPart.hyundai_e])), ], - CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), - CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), + CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarPart.hyundai_k])), + CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarPart.hyundai_k])), CAR.HYUNDAI_GENESIS: [ - HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), # TODO: check 2015 packages - HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), + HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarPart.hyundai_j])), # TODO: check 2015 packages + HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarPart.hyundai_j])), ], - CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c), - CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", harness=Harness.hyundai_h), # TODO: confirm 2020-21 harness - CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c), - CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", harness=Harness.hyundai_h), - CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness=Harness.hyundai_c), - CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", "All", harness=Harness.hyundai_h), - CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness=Harness.hyundai_b), - CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness=Harness.hyundai_g), - CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", harness=Harness.hyundai_o), - CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i), # TODO: check packages - CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d), - CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", "https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l), - CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l), - CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l), - CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", "https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a), - CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e), + CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarPart.hyundai_c])), + CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarPart.hyundai_h])), # TODO: confirm 2020-21 harness + CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarPart.hyundai_c])), + CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarPart.hyundai_h])), + CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarPart.hyundai_c])), + CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarPart.hyundai_h])), + CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarPart.hyundai_b])), + CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarPart.hyundai_g])), + CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarPart.hyundai_o])), + CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", car_parts=CarParts.common([CarPart.hyundai_i])), # TODO: check packages + CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarPart.hyundai_d])), + CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", car_parts=CarParts.common([CarPart.hyundai_l])), + CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarPart.hyundai_l])), + CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarPart.hyundai_l])), + CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", car_parts=CarParts.common([CarPart.hyundai_a])), + CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarPart.hyundai_e])), CAR.TUCSON: [ - HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l), - HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l), + HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarPart.hyundai_l])), + HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarPart.hyundai_l])), ], CAR.PALISADE: [ - HyundaiCarInfo("Hyundai Palisade 2020-22", "All", "https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h), - HyundaiCarInfo("Kia Telluride 2020-22", "All", harness=Harness.hyundai_h), + HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarPart.hyundai_h])), + HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarPart.hyundai_h])), ], - CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e), - CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a), + CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarPart.hyundai_e])), + CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", car_parts=CarParts.common([CarPart.hyundai_a])), CAR.IONIQ_5: [ - HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", harness=Harness.hyundai_q), - HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", harness=Harness.hyundai_k), - HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", harness=Harness.hyundai_q), + HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarPart.hyundai_q])), + HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarPart.hyundai_k])), + HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarPart.hyundai_q])), ], CAR.TUCSON_4TH_GEN: [ - HyundaiCarInfo("Hyundai Tucson 2022", harness=Harness.hyundai_n), - HyundaiCarInfo("Hyundai Tucson 2023", "All", harness=Harness.hyundai_n), + HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarPart.hyundai_n])), + HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarPart.hyundai_n])), ], - CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n), - CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2021-22", harness=Harness.hyundai_n), + CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", car_parts=CarParts.common([CarPart.hyundai_n])), + CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarPart.hyundai_n])), # Kia - CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g), - CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", harness=Harness.hyundai_a), - CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", harness=Harness.hyundai_a), + CAR.KIA_FORTE: [ + HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarPart.hyundai_g])), + HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarPart.hyundai_e])), + ], + CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", car_parts=CarParts.common([CarPart.hyundai_a])), + CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", car_parts=CarParts.common([CarPart.hyundai_a])), CAR.KIA_NIRO_EV: [ - HyundaiCarInfo("Kia Niro EV 2019", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), - HyundaiCarInfo("Kia Niro EV 2020", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f), - HyundaiCarInfo("Kia Niro EV 2021", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c), - HyundaiCarInfo("Kia Niro EV 2022", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), + HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarPart.hyundai_h])), + HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarPart.hyundai_f])), + HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarPart.hyundai_c])), + HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarPart.hyundai_h])), ], + CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarPart.hyundai_a])), CAR.KIA_NIRO_PHEV: [ - HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c), - HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", harness=Harness.hyundai_d), + HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarPart.hyundai_c])), + HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarPart.hyundai_d])), ], CAR.KIA_NIRO_HEV_2021: [ - HyundaiCarInfo("Kia Niro Hybrid 2021", harness=Harness.hyundai_f), # TODO: could be hyundai_d, verify - HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h), + HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarPart.hyundai_f])), # TODO: 2021 could be hyundai_d, verify ], - CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", harness=Harness.hyundai_a), - CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness=Harness.hyundai_b), # TODO: may support 2016, 2018 - CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", harness=Harness.hyundai_g), + CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarPart.hyundai_a])), + CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarPart.hyundai_b])), # TODO: may support 2016, 2018 + CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarPart.hyundai_g])), CAR.KIA_OPTIMA_H: [ HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"), # TODO: may support adjacent years HyundaiCarInfo("Kia Optima Hybrid 2019"), ], - CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a), - CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", harness=Harness.hyundai_n), + CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarPart.hyundai_a])), + CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarPart.hyundai_n])), CAR.KIA_SORENTO: [ - HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c), - HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e), + HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarPart.hyundai_c])), + HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarPart.hyundai_e])), ], - CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2022-23", harness=Harness.hyundai_k), - CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", harness=Harness.hyundai_a), - CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness=Harness.hyundai_n), - CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c), - CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", harness=Harness.hyundai_k), - CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e), + CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarPart.hyundai_k])), + CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", car_parts=CarParts.common([CarPart.hyundai_a])), + CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarPart.hyundai_n])), + CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", car_parts=CarParts.common([CarPart.hyundai_c])), + CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", car_parts=CarParts.common([CarPart.hyundai_k])), + CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarPart.hyundai_e])), CAR.KIA_EV6: [ - HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", harness=Harness.hyundai_p), - HyundaiCarInfo("Kia EV6 (without HDA II) 2022", "Highway Driving Assist", harness=Harness.hyundai_l), - HyundaiCarInfo("Kia EV6 (with HDA II) 2022", "Highway Driving Assist II", harness=Harness.hyundai_p) + HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarPart.hyundai_p])), + HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarPart.hyundai_l])), + HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarPart.hyundai_p])) ], # Genesis CAR.GENESIS_GV60_EV_1ST_GEN: [ - HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", harness=Harness.hyundai_a), - HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", harness=Harness.hyundai_k), + HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarPart.hyundai_a])), + HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarPart.hyundai_k])), + ], + CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarPart.hyundai_f])), + CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarPart.hyundai_f])), + CAR.GENESIS_GV70_1ST_GEN: [ + HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarPart.hyundai_l])), + HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarPart.hyundai_m])), ], - CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f), - CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness=Harness.hyundai_f), - CAR.GENESIS_GV70_1ST_GEN: HyundaiCarInfo("Genesis GV70 2022-23", "All", harness=Harness.hyundai_l), - CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", harness=Harness.hyundai_h), - CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness=Harness.hyundai_c), + CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarPart.hyundai_h])), + CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarPart.hyundai_c])), + CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarPart.hyundai_m])), } class Buttons: @@ -370,10 +379,15 @@ def match_fw_to_hyundai_fuzzy(fw_versions_dict): HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(0xf100) # Long description + +HYUNDAI_VERSION_REQUEST_ALT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(0xf110) # Alt long description + HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \ p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \ p16(0xf100) + HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) FW_QUERY_CONFIG = FwQueryConfig( @@ -390,22 +404,46 @@ FW_QUERY_CONFIG = FwQueryConfig( [HYUNDAI_VERSION_RESPONSE], whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar], ), - # CAN-FD queries (camera) + + # CAN-FD queries (from camera) + # TODO: combine shared whitelists with CAN requests Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar], - bus=4, + whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar, Ecu.hvac], + bus=0, + auxiliary=True, ), Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar], - bus=5, + whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar, Ecu.hvac], + bus=1, + auxiliary=True, + obd_multiplexing=False, + ), + + # CAN-FD debugging queries + Request( + [HYUNDAI_VERSION_REQUEST_ALT], + [HYUNDAI_VERSION_RESPONSE], + whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac], + bus=0, + auxiliary=True, + ), + Request( + [HYUNDAI_VERSION_REQUEST_ALT], + [HYUNDAI_VERSION_RESPONSE], + whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac], + bus=1, + auxiliary=True, + obd_multiplexing=False, ), ], extra_ecus=[ (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms + (Ecu.parkingAdas, 0x7b1, None), # ADAS Parking ECU (may exist on all platforms) + (Ecu.hvac, 0x7b3, None), # HVAC Control Assembly (Ecu.cornerRadar, 0x7b7, None), ], match_fw_to_car_fuzzy=match_fw_to_hyundai_fuzzy, @@ -460,6 +498,7 @@ FW_VERSIONS = { b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2200 ', b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ', b'\xf1\x00AEhe SCC F-CUP 1.00 1.02 99110-G2100 ', + b'\xf1\x00AEhe SCC FHCUP 1.00 1.00 99110-G2600 ', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2510 4APHC101', @@ -546,8 +585,6 @@ FW_VERSIONS = { b'\xf1\x00DN8_ SCC F-CUP 1.00 1.02 99110-L1000 ', b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ', b'\xf1\x00DN89110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa ', # TODO: figure this out, why does it not follow the standard format? - b'\xf1\x8799110L0000\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ', - b'\xf1\x8799110L0000\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ', ], (Ecu.abs, 0x7d1, None): [ b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', @@ -556,11 +593,11 @@ FW_VERSIONS = { b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', b'\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300', + b'\xf1\x00DN ESC \x07 107"\x08\x07 58910-L0100', b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', - b'\xf1\x8758910-L0300\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300', b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', ], (Ecu.engine, 0x7e0, None): [ @@ -572,6 +609,7 @@ FW_VERSIONS = { b'\xf1\x82DNCVN5GMCCXXXG2B', b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10', b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DNDWN5TMDCXXXJ1A', + b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M10', b'\xf1\x87391162M003', b'\xf1\x87391162M013', b'\xf1\x87391162M023', @@ -580,10 +618,12 @@ FW_VERSIONS = { b'HM6M2_0a0_BD0', b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B', b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M00', + b'\xf1\x8739110-2S042\xf1\x81HM6M1_0a0_M00', b'\xf1\x81HM6M1_0a0_G20', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102', b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware b'\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', @@ -599,6 +639,7 @@ FW_VERSIONS = { b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.02 99211-L1000 190422', @@ -619,8 +660,10 @@ FW_VERSIONS = { b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x96\xa1\xf1\x92', b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB2\x00\x00\x00\x00\x00\x00\x08\xc9O:', b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB4\x00\x00\x00\x00\x00\x00g!l[', + b'\xf1\x00HT6WA280BLHT6WAE10A1SDN8G25NB5\x00\x00\x00\x00\x00\x00\xe0t\xa9\xba', b'\xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', b'\xf1\x00T02601BL T02832A1 VDN8T25XXX832NS8G\x0e\xfeE', + b'\xf1\x00T02601BL T02900A1 VDN8T25XXX900NSCF\xe4!Y', b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', b'\xf1\x87SAKFBA2926554GJ2VefVww\x87xwwwww\x88\x87xww\x87wTo\xfb\xffvUo\xff\x8d\x16\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', b'\xf1\x87SAKFBA3030524GJ2UVugww\x97yx\x88\x87\x88vw\x87gww\x87wto\xf9\xfffUo\xff\xa2\x0c\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', @@ -784,11 +827,10 @@ FW_VERSIONS = { CAR.SANTA_FE_2022: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ', - b'\xf1\x8799110S1500\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ', - b'\xf1\x8799110S1500\xf1\x00TM__ SCC FHCUP 1.00 1.00 99110-S1500 ', b'\xf1\x00TM__ SCC FHCUP 1.00 1.00 99110-S1500 ', ], (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00TM ESC \x01 102!\x04\x03 58910-S2DA0', b'\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0', b'\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0', b'\xf1\x8758910-S2DA0\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0', @@ -799,6 +841,8 @@ FW_VERSIONS = { b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0', ], (Ecu.engine, 0x7e0, None): [ + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_L50', + b'\xf1\x81HM6M1_0a0_H00', b'\xf1\x82TACVN5GMI3XXXH0A', b'\xf1\x82TMBZN5TMD3XXXG2E', b'\xf1\x82TACVN5GSI3XXXH0A', @@ -819,6 +863,9 @@ FW_VERSIONS = { b'\xf1\x00TMA MFC AT USA LHD 1.00 1.01 99211-S2500 210205', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00HT6WA280BLHT6WAD00A1STM2G25NH2\x00\x00\x00\x00\x00\x00\xf8\xc0\xc3\xaa', + b'\xf1\x00HT6WA280BLHT6WAD00A1STM4G25NH1\x00\x00\x00\x00\x00\x00\x9cl\x04\xbc', + b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NSA\xf3\xf4Uj', b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', b'\xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7', b'\xf1\x87SDMXCA8653204GN1EVugEUuWwwwwww\x87wwwwwv/\xfb\xff\xa8\x88\x9f\xff\xa5\x9c\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', @@ -838,18 +885,22 @@ FW_VERSIONS = { (Ecu.eps, 0x7d4, None): [ b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', b'\xf1\x00TM MDPS R 1.00 1.05 57700-CL000 4TSHP105', + b'\xf1\x00TM MDPS C 1.00 1.02 56310-GA000 4TSHA100', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00TMH MFC AT EUR LHD 1.00 1.06 99211-S1500 220727', b'\xf1\x00TMH MFC AT USA LHD 1.00 1.03 99211-S1500 210224', + b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16SA3\xa3\x1b\xe14', b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16UA3I\x94\xac\x8f', b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TTM2H16SA2\x80\xd7l\xb2', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x87391312MTC1', b'\xf1\x87391312MTE0', + b'\xf1\x87391312MTL0', ], }, CAR.SANTA_FE_PHEV_2022: { @@ -917,18 +968,23 @@ FW_VERSIONS = { CAR.KIA_STINGER_2022: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00CK__ SCC F-CUP 1.00 1.00 99110-J5500 ', + b'\xf1\x00CK__ SCC FHCUP 1.00 1.00 99110-J5500 ', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81HM6M1_0a0_H00', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5380 4C2VR503', + b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5300 4C2CL503', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00CK MFC AT AUS RHD 1.00 1.00 99211-J5500 210622', + b'\xf1\x00CK MFC AT KOR LHD 1.00 1.00 99211-J5500 210622', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6', + b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00SCK0T25KH2B\xfbI\xe2', ], }, CAR.PALISADE: { @@ -1060,11 +1116,23 @@ FW_VERSIONS = { ], }, CAR.GENESIS_G70: { - (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', ], - (Ecu.engine, 0x7e0, None): [b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.eps, 0x7d4, None): [b'\xf1\x00IK MDPS R 1.00 1.06 57700-G9420 4I4VL106', ], - (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', ], - (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', + b'\xf1\x00IK__ SCC F-CUP 1.00 1.01 96400-G9100 ', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IK MDPS R 1.00 1.06 57700-G9420 4I4VL106', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', + b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', + ], }, CAR.GENESIS_G70_2020: { (Ecu.eps, 0x7d4, None): [ @@ -1112,7 +1180,10 @@ FW_VERSIONS = { ], }, CAR.GENESIS_G90: { - (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7'], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87VDGMD15352242DD3w\x87gxwvgv\x87wvw\x88wXwffVfffUfw\x88o\xff\x06J\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7', + b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7', + ], (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00HI__ SCC F-CUP 1.00 1.01 96400-D2100 '], (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00HI LKAS AT USA LHD 1.00 1.00 95895-D2020 160302'], (Ecu.engine, 0x7e0, None): [b'\xf1\x810000000000\x00'], @@ -1141,21 +1212,27 @@ FW_VERSIONS = { b'\xf1\x00BD MDPS C 1.00 1.02 56310-XX000 4BD2C102', b'\xf1\x00BD MDPS C 1.00 1.08 56310/M6300 4BDDC108', b'\xf1\x00BD MDPS C 1.00 1.08 56310M6300\x00 4BDDC108', + b'\xf1\x00BDm MDPS C A.01 1.03 56310M7800\x00 4BPMC103', ], (Ecu.fwdCamera, 0x7C4, None): [ b'\xf1\x00BD LKAS AT USA LHD 1.00 1.04 95740-M6000 J33', + b'\xf1\x00BDP LKAS AT USA LHD 1.00 1.05 99211-M6500 744', ], (Ecu.fwdRadar, 0x7D0, None): [ b'\xf1\x00BD__ SCC H-CUP 1.00 1.02 99110-M6000 ', + b'\xf1\x00BDPE_SCC FHCUPC 1.00 1.04 99110-M6500\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\x01TBDM1NU06F200H01', b'391182B945\x00', + b'\xf1\x81616F2051\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7d1, None): [ b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x8758900-M7AB0 \xf1\x816VQRAD00127.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x00\x00\x00\x00', b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\x00\x00\x00\x00', b"\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\xcf\x1e'\xc3", ], @@ -1298,6 +1375,15 @@ FW_VERSIONS = { b'\xf1\x00DEE MFC AT KOR LHD 1.00 1.03 95740-Q4000 180821', ], }, + CAR.KIA_NIRO_EV_2ND_GEN: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00SG2EMFC AT EUR LHD 1.01 1.09 99211-AT000 220801', + b'\xf1\x00SG2EMFC AT USA LHD 1.01 1.09 99211-AT000 220801', + ], + }, CAR.KIA_NIRO_PHEV: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00', @@ -1478,25 +1564,30 @@ 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', + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.09 99210-AA000 221108', ], (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: { @@ -1585,6 +1676,9 @@ FW_VERSIONS = { b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.06 99210-CV000 220328', b'\xf1\x00CV1 MFC AT EUR RHD 1.00 1.00 99210-CV100 220630', b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.00 99210-CV100 220630', + b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.04 99210-CV000 210823', + b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.05 99210-CV000 211027', + b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.06 99210-CV000 220328', ], }, CAR.IONIQ_5: { @@ -1595,16 +1689,21 @@ FW_VERSIONS = { b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.02 99211-GI010 211206', b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614', + b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.05 99211-GI010 220614', b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.01 99211-GI010 211007', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.01 99211-GI010 211007', b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.02 99211-GI010 211206', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.03 99211-GI010 220401', ], }, CAR.TUCSON_4TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X', ], (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', ], }, @@ -1613,13 +1712,16 @@ FW_VERSIONS = { b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', + b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', ], }, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665', b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665', ], (Ecu.fwdRadar, 0x7d0, None): [ @@ -1629,9 +1731,11 @@ FW_VERSIONS = { CAR.SANTA_CRUZ_1ST_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00NX4__ 1.00 1.00 99110-K5000 ', + b'\xf1\x00NX4__ 1.01 1.00 99110-K5000 ', ], }, CAR.KIA_SPORTAGE_5TH_GEN: { @@ -1642,22 +1746,26 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00NQ5__ 1.00 1.02 99110-P1000 ', b'\xf1\x00NQ5__ 1.00 1.03 99110-P1000 ', + b'\xf1\x00NQ5__ 1.01 1.03 99110-P1000 ', ], }, CAR.GENESIS_GV70_1ST_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.04 99211-AR000 210204', b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.01 99211-AR200 220125', + b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.01 99211-AR300 220125', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00JK1_ SCC FHCUP 1.00 1.02 99110-AR000 ', b'\xf1\x00JK1_ SCC FHCUP 1.00 1.00 99110-AR200 ', + b'\xf1\x00JK1_ SCC FHCUP 1.00 1.00 99110-AR300 ', ], }, CAR.GENESIS_GV60_EV_1ST_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU100 211215', b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU000 211215', + b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.03 99211-CU000 221118', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00JW1_ RDR ----- 1.00 1.00 99110-CU000 ', @@ -1666,19 +1774,30 @@ FW_VERSIONS = { CAR.KIA_SORENTO_4TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.05 99210-R5000 210623', + b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.03 99210-R5000 200903', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.06 99110-P2000 ', + b'\xf1\x00MQ4_ SCC F-CUP 1.00 1.06 99110-P2000 ', ], }, CAR.KIA_NIRO_HEV_2ND_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.08 99211-AT000 220531', + b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.09 99211-AT000 220801', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', ], }, + CAR.GENESIS_GV80: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JX1 MFC AT USA LHD 1.00 1.02 99211-T6110 220513', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JX1_ SCC FHCUP 1.00 1.01 99110-T6100 ', + ], + }, } CHECKSUM = { @@ -1686,23 +1805,23 @@ CHECKSUM = { "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS], } -FEATURES = { +CAN_GEARS = { # which message has the gear "use_cluster_gears": {CAR.ELANTRA, CAR.KONA}, "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020}, } -CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN} +CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN, CAR.GENESIS_GV80} # The radar does SCC on these cars when HDA I, rather than the camera -CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN} +CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80} # The camera does SCC on these cars, rather than the radar CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN} # these cars use a different gas signal -EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN} +EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN} # these cars require a special panda safety mode due to missing counters and checksums in the messages LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, @@ -1765,4 +1884,6 @@ DBC = { CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None), + CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None), + CAR.GENESIS_GV80: dbc_dict('hyundai_canfd', None), } diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index f1e2081d05..e5d7430878 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -8,17 +8,17 @@ 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 ButtonType = car.CarState.ButtonEvent.Type GearShifter = car.CarState.GearShifter EventName = car.CarEvent.EventName -TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, float, bool], float] +TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, bool], float] MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS ACCEL_MAX = 2.0 @@ -64,6 +64,7 @@ class CarInterfaceBase(ABC): self.frame = 0 self.steering_unpressed = 0 self.low_speed_alert = False + self.no_steer_warning = False self.silent_steer_warning = True self.v_ego_cluster_seen = False @@ -92,12 +93,12 @@ class CarInterfaceBase(ABC): """ Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints. """ - return cls.get_params(candidate, gen_empty_fingerprint(), list(), False) + return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False) @classmethod - def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool): + def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool): ret = CarInterfaceBase.get_std_params(candidate) - ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long) + ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs) # Set common params using fields set by the car interface # TODO: get actual value, for now starting with reasonable value for @@ -114,7 +115,7 @@ class CarInterfaceBase(ABC): @staticmethod @abstractmethod - def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool): + def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool): raise NotImplementedError @staticmethod @@ -131,15 +132,11 @@ 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, vego, 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 @@ -282,13 +279,19 @@ class CarInterfaceBase(ABC): # Handle permanent and temporary steering faults self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1 if cs_out.steerFaultTemporary: - # if the user overrode recently, show a less harsh alert - if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL): - self.silent_steer_warning = True - events.add(EventName.steerTempUnavailableSilent) + if cs_out.steeringPressed and (not self.CS.out.steerFaultTemporary or self.no_steer_warning): + self.no_steer_warning = True else: - events.add(EventName.steerTempUnavailable) + self.no_steer_warning = False + + # if the user overrode recently, show a less harsh alert + if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL): + self.silent_steer_warning = True + events.add(EventName.steerTempUnavailableSilent) + else: + events.add(EventName.steerTempUnavailable) else: + self.no_steer_warning = False self.silent_steer_warning = False if cs_out.steerFaultPermanent: events.add(EventName.steerUnavailable) diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index d9c658a14c..965d2e1836 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -60,7 +60,7 @@ class IsoTpParallelQuery: return msgs def _drain_rx(self): - messaging.drain_sock(self.logcan) + messaging.drain_sock_raw(self.logcan) self.msg_buffer = defaultdict(list) def _create_isotp_msg(self, tx_addr, sub_addr, rx_addr): @@ -100,18 +100,16 @@ class IsoTpParallelQuery: while True: self.rx() - if all(request_done.values()): - break - for tx_addr, msg in msgs.items(): try: - dat, updated = msg.recv() + dat, rx_in_progress = msg.recv() except Exception: cloudlog.exception(f"Error processing UDS response: {tx_addr}") request_done[tx_addr] = True continue - if updated: + # Extend timeout for each consecutive ISO-TP frame to avoid timing out on long responses + if rx_in_progress: response_timeouts[tx_addr] = time.monotonic() + timeout if not dat: @@ -123,6 +121,7 @@ class IsoTpParallelQuery: if response_valid: if counter + 1 < len(self.request): + response_timeouts[tx_addr] = time.monotonic() + timeout msg.send(self.request[counter + 1]) request_counter[tx_addr] += 1 else: @@ -132,18 +131,21 @@ class IsoTpParallelQuery: error_code = dat[2] if len(dat) > 2 else -1 if error_code == 0x78: response_timeouts[tx_addr] = time.monotonic() + self.response_pending_timeout - if self.debug: - cloudlog.warning(f"iso-tp query response pending: {tx_addr}") + cloudlog.error(f"iso-tp query response pending: {tx_addr}") else: - response_timeouts[tx_addr] = 0 request_done[tx_addr] = True cloudlog.error(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}") + # Mark request done if address timed out cur_time = time.monotonic() - if cur_time - max(response_timeouts.values()) > 0: - for tx_addr in msgs: + for tx_addr in response_timeouts: + if cur_time - response_timeouts[tx_addr] > 0: if request_counter[tx_addr] > 0 and not request_done[tx_addr]: cloudlog.error(f"iso-tp query timeout after receiving response: {tx_addr}") + request_done[tx_addr] = True + + # Break if all requests are done (finished or timed out) + if all(request_done.values()): break if cur_time - start_time > total_timeout: diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py index 524a02a370..cb401a8abd 100644 --- a/selfdrive/car/mazda/carcontroller.py +++ b/selfdrive/car/mazda/carcontroller.py @@ -1,6 +1,6 @@ from cereal import car from opendbc.can.packer import CANPacker -from selfdrive.car import apply_std_steer_torque_limits +from selfdrive.car import apply_driver_steer_torque_limits from selfdrive.car.mazda import mazdacan from selfdrive.car.mazda.values import CarControllerParams, Buttons @@ -23,8 +23,8 @@ class CarController: if CC.latActive: # calculate steer and also set limits due to driver torque new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX)) - apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, - CS.out.steeringTorque, CarControllerParams) + apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, + CS.out.steeringTorque, CarControllerParams) if CC.cruiseControl.cancel: # If brake is pressed, let us wait >70ms before trying to disable crz to avoid diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index 2930b002d4..443116bc18 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -11,7 +11,7 @@ EventName = car.CarEvent.EventName class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "mazda" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)] ret.radarUnavailable = True diff --git a/selfdrive/car/mazda/mazdacan.py b/selfdrive/car/mazda/mazdacan.py index e2ee93e022..3b29a25621 100644 --- a/selfdrive/car/mazda/mazdacan.py +++ b/selfdrive/car/mazda/mazdacan.py @@ -1,5 +1,3 @@ -import copy - from selfdrive.car.mazda.values import GEN1, Buttons @@ -64,7 +62,17 @@ def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas): def create_alert_command(packer, cam_msg: dict, ldw: bool, steer_required: bool): - values = copy.copy(cam_msg) + values = {s: cam_msg[s] for s in [ + "LINE_VISIBLE", + "LINE_NOT_VISIBLE", + "LANE_LINES", + "BIT1", + "BIT2", + "BIT3", + "NO_ERR_BIT", + "S1", + "S1_HBEAM", + ]} values.update({ # TODO: what's the difference between all these? do we need to send all? "HANDS_WARN_3_BITS": 0b111 if steer_required else 0, diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 598b598a16..864462186e 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -1,10 +1,9 @@ from dataclasses import dataclass -from enum import Enum from typing import Dict, List, Union from cereal import car from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarInfo, Harness +from selfdrive.car.docs_definitions import CarInfo, CarPart, CarParts from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu @@ -38,7 +37,7 @@ class CAR: @dataclass class MazdaCarInfo(CarInfo): package: str = "All" - harness: Enum = Harness.mazda + car_parts: CarParts = CarParts.common([CarPart.mazda]) CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = { @@ -258,11 +257,14 @@ FW_VERSIONS = { CAR.MAZDA6: { (Ecu.eps, 0x730, None): [ b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GBEF-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GFBC-3210X-A-00\000\000\000\000\000\000\000\000\000', ], (Ecu.engine, 0x7e0, None): [ + b'PA34-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX4F-188K2-D\000\000\000\000\000\000\000\000\000\000\000\000', b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYH7-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -270,13 +272,16 @@ FW_VERSIONS = { ], (Ecu.abs, 0x760, None): [ b'GBVH-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GBVH-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GDDM-437K2-A\000\000\000\000\000\000\000\000\000\000\000\000', ], (Ecu.fwdCamera, 0x706, None): [ b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GSH7-67XK2-P\000\000\000\000\000\000\000\000\000\000\000\000', ], (Ecu.transmission, 0x7e1, None): [ + b'PA28-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYH3-21PS1-D\000\000\000\000\000\000\000\000\000\000\000\000', b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], @@ -291,6 +296,7 @@ FW_VERSIONS = { b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXM6-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXGW-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py index 13210c86d5..1c74aef1fa 100755 --- a/selfdrive/car/mock/interface.py +++ b/selfdrive/car/mock/interface.py @@ -19,7 +19,7 @@ class CarInterface(CarInterfaceBase): self.prev_speed = 0. @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "mock" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)] ret.mass = 1700. diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py index 45c3dd720c..4e99d24903 100644 --- a/selfdrive/car/nissan/carcontroller.py +++ b/selfdrive/car/nissan/carcontroller.py @@ -26,13 +26,11 @@ class CarController: can_sends = [] ### STEER ### - lkas_hud_msg = CS.lkas_hud_msg - lkas_hud_info_msg = CS.lkas_hud_info_msg steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0 if CC.latActive: # windup slower - apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams) + apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CarControllerParams) # Max torque from driver before EPS will give up and not apply torque if not bool(CS.out.steeringPressed): @@ -63,16 +61,17 @@ class CarController: can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, pcm_cancel_cmd)) can_sends.append(nissancan.create_steering_control( - self.packer, apply_angle, self.frame, CC.enabled, self.lkas_max_torque)) + self.packer, apply_angle, self.frame, CC.latActive, self.lkas_max_torque)) - if lkas_hud_msg and lkas_hud_info_msg: + # Below are the HUD messages. We copy the stock message and modify + if self.CP.carFingerprint != CAR.ALTIMA: if self.frame % 2 == 0: can_sends.append(nissancan.create_lkas_hud_msg( - self.packer, lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)) + self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)) if self.frame % 50 == 0: can_sends.append(nissancan.create_lkas_hud_info_msg( - self.packer, lkas_hud_info_msg, steer_hud_alert + self.packer, CS.lkas_hud_info_msg, steer_hud_alert )) new_actuators = actuators.copy() diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py index d6b6d17d55..bbba92ddeb 100644 --- a/selfdrive/car/nissan/carstate.py +++ b/selfdrive/car/nissan/carstate.py @@ -14,8 +14,8 @@ class CarState(CarStateBase): super().__init__(CP) can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) - self.lkas_hud_msg = None - self.lkas_hud_info_msg = None + self.lkas_hud_msg = {} + self.lkas_hud_info_msg = {} self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES) self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"] diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index 074cd1cc57..573dff9f05 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -8,7 +8,7 @@ from selfdrive.car.nissan.values import CAR class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "nissan" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)] ret.autoResumeSng = False diff --git a/selfdrive/car/nissan/nissancan.py b/selfdrive/car/nissan/nissancan.py index 01fb3463a9..89754775b1 100644 --- a/selfdrive/car/nissan/nissancan.py +++ b/selfdrive/car/nissan/nissancan.py @@ -1,4 +1,3 @@ -import copy import crcmod from selfdrive.car.nissan.values import CAR @@ -23,7 +22,23 @@ def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torqu def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg): - values = copy.copy(cruise_throttle_msg) + values = {s: cruise_throttle_msg[s] for s in [ + "COUNTER", + "PROPILOT_BUTTON", + "CANCEL_BUTTON", + "GAS_PEDAL_INVERTED", + "SET_BUTTON", + "RES_BUTTON", + "FOLLOW_DISTANCE_BUTTON", + "NO_BUTTON_PRESSED", + "GAS_PEDAL", + "USER_BRAKE_PRESSED", + "NEW_SIGNAL_2", + "GAS_PRESSED_INVERTED", + "unsure1", + "unsure2", + "unsure3", + ]} can_bus = 1 if car_fingerprint == CAR.ALTIMA else 2 values["CANCEL_BUTTON"] = 1 @@ -37,7 +52,12 @@ def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg): def create_cancel_msg(packer, cancel_msg, cruise_cancel): - values = copy.copy(cancel_msg) + values = {s: cancel_msg[s] for s in [ + "CANCEL_SEATBELT", + "NEW_SIGNAL_1", + "NEW_SIGNAL_2", + "NEW_SIGNAL_3", + ]} if cruise_cancel: values["CANCEL_SEATBELT"] = 1 @@ -46,7 +66,34 @@ def create_cancel_msg(packer, cancel_msg, cruise_cancel): def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart): - values = lkas_hud_msg + values = {s: lkas_hud_msg[s] for s in [ + "LARGE_WARNING_FLASHING", + "SIDE_RADAR_ERROR_FLASHING1", + "SIDE_RADAR_ERROR_FLASHING2", + "LEAD_CAR", + "LEAD_CAR_ERROR", + "FRONT_RADAR_ERROR", + "FRONT_RADAR_ERROR_FLASHING", + "SIDE_RADAR_ERROR_FLASHING3", + "LKAS_ERROR_FLASHING", + "SAFETY_SHIELD_ACTIVE", + "RIGHT_LANE_GREEN_FLASH", + "LEFT_LANE_GREEN_FLASH", + "FOLLOW_DISTANCE", + "AUDIBLE_TONE", + "SPEED_SET_ICON", + "SMALL_STEERING_WHEEL_ICON", + "unknown59", + "unknown55", + "unknown26", + "unknown28", + "unknown31", + "SET_SPEED", + "unknown43", + "unknown08", + "unknown05", + "unknown02", + ]} values["RIGHT_LANE_YELLOW_FLASH"] = 1 if right_lane_depart else 0 values["LEFT_LANE_YELLOW_FLASH"] = 1 if left_lane_depart else 0 @@ -59,7 +106,47 @@ def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, le def create_lkas_hud_info_msg(packer, lkas_hud_info_msg, steer_hud_alert): - values = lkas_hud_info_msg + values = {s: lkas_hud_info_msg[s] for s in [ + "NA_HIGH_ACCEL_TEMP", + "SIDE_RADAR_NA_HIGH_CABIN_TEMP", + "SIDE_RADAR_MALFUNCTION", + "LKAS_MALFUNCTION", + "FRONT_RADAR_MALFUNCTION", + "SIDE_RADAR_NA_CLEAN_REAR_CAMERA", + "NA_POOR_ROAD_CONDITIONS", + "CURRENTLY_UNAVAILABLE", + "SAFETY_SHIELD_OFF", + "FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION", + "PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED", + "SIDE_IMPACT_NA_RADAR_OBSTRUCTION", + "WARNING_DO_NOT_ENTER", + "SIDE_IMPACT_SYSTEM_OFF", + "SIDE_IMPACT_MALFUNCTION", + "FRONT_COLLISION_MALFUNCTION", + "SIDE_RADAR_MALFUNCTION2", + "LKAS_MALFUNCTION2", + "FRONT_RADAR_MALFUNCTION2", + "PROPILOT_NA_MSGS", + "BOTTOM_MSG", + "HANDS_ON_WHEEL_WARNING", + "WARNING_STEP_ON_BRAKE_NOW", + "PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED", + "PROPILOT_NA_HIGH_CABIN_TEMP", + "WARNING_PROPILOT_MALFUNCTION", + "ACC_UNAVAILABLE_HIGH_CABIN_TEMP", + "ACC_NA_FRONT_CAMERA_IMPARED", + "unknown07", + "unknown10", + "unknown15", + "unknown23", + "unknown19", + "unknown31", + "unknown32", + "unknown46", + "unknown61", + "unknown55", + "unknown50", + ]} if steer_hud_alert: values["HANDS_ON_WHEEL_WARNING"] = 1 diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index e9af828e2b..1669151025 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -1,11 +1,10 @@ from dataclasses import dataclass from typing import Dict, List, Optional, Union -from enum import Enum from cereal import car from panda.python import uds from selfdrive.car import AngleRateLimit, dbc_dict -from selfdrive.car.docs_definitions import CarInfo, Harness +from selfdrive.car.docs_definitions import CarInfo, CarPart, CarParts from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu @@ -31,18 +30,21 @@ class CAR: ALTIMA = "NISSAN ALTIMA 2020" +NISSAN_PARTS: List[CarPart] = [CarPart.harness_box, CarPart.rj45_cable_7ft, CarPart.long_obdc_cable, CarPart.usbc_coupler, CarPart.mount, CarPart.right_angle_obd_c_cable_1_5ft] + + @dataclass class NissanCarInfo(CarInfo): package: str = "ProPILOT Assist" - harness: Enum = Harness.nissan_a + car_parts: CarParts = CarParts([CarPart.nissan_a] + NISSAN_PARTS) CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = { CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"), - CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-22", video_link="https://youtu.be/vaMbtAh_0cY"), + CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"), CAR.LEAF_IC: None, # same platforms CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"), - CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", harness=Harness.nissan_b), + CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts([CarPart.nissan_b] + NISSAN_PARTS)), } FINGERPRINTS = { @@ -126,18 +128,22 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x707, None): [ b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80', + b'5SH4BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', ], (Ecu.abs, 0x740, None): [ b'476605SH1D', b'476605SK2A', + b'476605SD2E', ], (Ecu.eps, 0x742, None): [ b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80', b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80', + b'5SH2C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80', ], (Ecu.gateway, 0x18dad0f1, None): [ b'284U25SH3A', b'284U25SK2D', + b'284U25SF0C', ], }, CAR.XTRAIL: { diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index 24d85877d7..ae3305fbe4 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -1,7 +1,7 @@ from opendbc.can.packer import CANPacker -from selfdrive.car import apply_std_steer_torque_limits +from selfdrive.car import apply_driver_steer_torque_limits from selfdrive.car.subaru import subarucan -from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams +from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams, SubaruFlags class CarController: @@ -10,9 +10,6 @@ class CarController: self.apply_steer_last = 0 self.frame = 0 - self.es_lkas_cnt = -1 - self.es_distance_cnt = -1 - self.es_dashstatus_cnt = -1 self.cruise_button_prev = 0 self.last_cancel_frame = 0 @@ -28,13 +25,12 @@ class CarController: # *** steering *** if (self.frame % self.p.STEER_STEP) == 0: - apply_steer = int(round(actuators.steer * self.p.STEER_MAX)) # limits due to driver torque new_steer = int(round(apply_steer)) - apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p) + apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p) if not CC.latActive: apply_steer = 0 @@ -50,7 +46,7 @@ class CarController: # *** alerts and pcm cancel *** if self.CP.carFingerprint in PREGLOBAL_CARS: - if self.es_distance_cnt != CS.es_distance_msg["COUNTER"]: + if self.frame % 5 == 0: # 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep # disengage ACC when OP is disengaged if pcm_cancel_cmd: @@ -67,7 +63,6 @@ class CarController: self.cruise_button_prev = cruise_button can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg)) - self.es_distance_cnt = CS.es_distance_msg["COUNTER"] else: if pcm_cancel_cmd and (self.frame - self.last_cancel_frame) > 0.2: @@ -75,15 +70,15 @@ class CarController: can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd)) self.last_cancel_frame = self.frame - if self.es_dashstatus_cnt != CS.es_dashstatus_msg["COUNTER"]: + if self.frame % 10 == 0: can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg)) - self.es_dashstatus_cnt = CS.es_dashstatus_msg["COUNTER"] - if self.es_lkas_cnt != CS.es_lkas_msg["COUNTER"]: - can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert, - hud_control.leftLaneVisible, hud_control.rightLaneVisible, - hud_control.leftLaneDepart, hud_control.rightLaneDepart)) - self.es_lkas_cnt = CS.es_lkas_msg["COUNTER"] + can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert, + hud_control.leftLaneVisible, hud_control.rightLaneVisible, + hud_control.leftLaneDepart, hud_control.rightLaneDepart)) + + if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT: + can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert)) new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index ba873c48d7..9d7b0a65cc 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine from common.conversions import Conversions as CV from selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser -from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS +from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags class CarState(CarStateBase): @@ -77,11 +77,13 @@ class CarState(CarStateBase): ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1 ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3 ret.stockFcw = cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2 - self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"]) + self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"]) cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"]) self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"]) + if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT: + self.es_infotainmentstatus_msg = copy.copy(cp_cam.vl["INFOTAINMENT_STATUS"]) return ret @@ -248,7 +250,7 @@ class CarState(CarStateBase): ] else: signals = [ - ("Counter", "ES_DashStatus"), + ("COUNTER", "ES_DashStatus"), ("PCB_Off", "ES_DashStatus"), ("LDW_Off", "ES_DashStatus"), ("Signal1", "ES_DashStatus"), @@ -256,7 +258,7 @@ class CarState(CarStateBase): ("LKAS_State_Msg", "ES_DashStatus"), ("Signal2", "ES_DashStatus"), ("Cruise_Soft_Disable", "ES_DashStatus"), - ("EyeSight_Status_Msg", "ES_DashStatus"), + ("Cruise_Status_Msg", "ES_DashStatus"), ("Signal3", "ES_DashStatus"), ("Cruise_Distance", "ES_DashStatus"), ("Signal4", "ES_DashStatus"), @@ -301,6 +303,15 @@ class CarState(CarStateBase): signals += CarState.get_global_es_distance_signals()[0] checks += CarState.get_global_es_distance_signals()[1] + if CP.flags & SubaruFlags.SEND_INFOTAINMENT: + signals += [ + ("LKAS_State_Infotainment", "INFOTAINMENT_STATUS"), + ("LKAS_Blue_Lines", "INFOTAINMENT_STATUS"), + ("Signal1", "INFOTAINMENT_STATUS"), + ("Signal2", "INFOTAINMENT_STATUS"), + ] + checks.append(("INFOTAINMENT_STATUS", 10)) + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) @staticmethod diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 733482ef82..f7698dbe7c 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -3,21 +3,25 @@ from cereal import car from panda import Panda from selfdrive.car import STD_CARGO_KG, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS +from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "subaru" ret.radarUnavailable = True ret.dashcamOnly = candidate in PREGLOBAL_CARS ret.autoResumeSng = False + # Detect infotainment message sent from the camera + if candidate not in PREGLOBAL_CARS and 0x323 in fingerprint[2]: + ret.flags |= SubaruFlags.SEND_INFOTAINMENT.value + if candidate in PREGLOBAL_CARS: ret.enableBsm = 0x25c in fingerprint[0] - ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)] + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruPreglobal)] else: ret.enableBsm = 0x228 in fingerprint[0] ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)] diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index d83b639a41..bc9bf4c0a0 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -1,8 +1,8 @@ -import copy from cereal import car VisualAlert = car.CarControl.HUDControl.VisualAlert + def create_steering_control(packer, apply_steer): values = { "LKAS_Output": apply_steer, @@ -11,19 +11,59 @@ def create_steering_control(packer, apply_steer): } return packer.make_can_msg("ES_LKAS", 0, values) + def create_steering_status(packer): return packer.make_can_msg("ES_LKAS_State", 0, {}) + def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd): - values = copy.copy(es_distance_msg) + values = {s: es_distance_msg[s] for s in [ + "CHECKSUM", + "COUNTER", + "Signal1", + "Cruise_Fault", + "Cruise_Throttle", + "Signal2", + "Car_Follow", + "Signal3", + "Cruise_Soft_Disable", + "Signal7", + "Cruise_Brake_Active", + "Distance_Swap", + "Cruise_EPB", + "Signal4", + "Close_Distance", + "Signal5", + "Cruise_Cancel", + "Cruise_Set", + "Cruise_Resume", + "Signal6", + ]} values["COUNTER"] = (values["COUNTER"] + 1) % 0x10 if pcm_cancel_cmd: values["Cruise_Cancel"] = 1 return packer.make_can_msg("ES_Distance", bus, values) -def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart): - values = copy.copy(es_lkas_msg) +def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart): + values = {s: es_lkas_state_msg[s] for s in [ + "CHECKSUM", + "COUNTER", + "LKAS_Alert_Msg", + "Signal1", + "LKAS_ACTIVE", + "LKAS_Dash_State", + "Signal2", + "Backward_Speed_Limit_Menu", + "LKAS_Left_Line_Enable", + "LKAS_Left_Line_Light_Blink", + "LKAS_Right_Line_Enable", + "LKAS_Right_Line_Light_Blink", + "LKAS_Left_Line_Visible", + "LKAS_Right_Line_Visible", + "LKAS_Alert", + "Signal3", + ]} # Filter the stock LKAS "Keep hands on wheel" alert if values["LKAS_Alert_Msg"] == 1: @@ -52,36 +92,88 @@ def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_ # Ensure we don't overwrite potentially more important alerts from stock (e.g. FCW) if visual_alert == VisualAlert.ldw and values["LKAS_Alert"] == 0: if left_lane_depart: - values["LKAS_Alert"] = 12 # Left lane departure dash alert + values["LKAS_Alert"] = 12 # Left lane departure dash alert elif right_lane_depart: - values["LKAS_Alert"] = 11 # Right lane departure dash alert + values["LKAS_Alert"] = 11 # Right lane departure dash alert - if enabled: - values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines - values["LKAS_Dash_State"] = 2 # Green enabled indicator - else: - values["LKAS_Dash_State"] = 0 # LKAS Not enabled + values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines + values["LKAS_Dash_State"] = 2 if enabled else 0 # Green enabled indicator values["LKAS_Left_Line_Visible"] = int(left_line) values["LKAS_Right_Line_Visible"] = int(right_line) return packer.make_can_msg("ES_LKAS_State", 0, values) + def create_es_dashstatus(packer, dashstatus_msg): - values = copy.copy(dashstatus_msg) + values = {s: dashstatus_msg[s] for s in [ + "CHECKSUM", + "COUNTER", + "PCB_Off", + "LDW_Off", + "Signal1", + "Cruise_State_Msg", + "LKAS_State_Msg", + "Signal2", + "Cruise_Soft_Disable", + "Cruise_Status_Msg", + "Signal3", + "Cruise_Distance", + "Signal4", + "Conventional_Cruise", + "Signal5", + "Cruise_Disengaged", + "Cruise_Activated", + "Signal6", + "Cruise_Set_Speed", + "Cruise_Fault", + "Cruise_On", + "Display_Own_Car", + "Brake_Lights", + "Car_Follow", + "Signal7", + "Far_Distance", + "Cruise_State", + ]} # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts - if values["LKAS_State_Msg"] in [2, 3]: + if values["LKAS_State_Msg"] in (2, 3): values["LKAS_State_Msg"] = 0 return packer.make_can_msg("ES_DashStatus", 0, values) + +def create_infotainmentstatus(packer, infotainmentstatus_msg, visual_alert): + # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts + values = {s: infotainmentstatus_msg[s] for s in [ + "CHECKSUM", + "COUNTER", + "LKAS_State_Infotainment", + "LKAS_Blue_Lines", + "Signal1", + "Signal2", + ]} + if values["LKAS_State_Infotainment"] in (3, 4): + values["LKAS_State_Infotainment"] = 0 + + # Show Keep hands on wheel alert for openpilot steerRequired alert + if visual_alert == VisualAlert.steerRequired: + values["LKAS_State_Infotainment"] = 3 + + # Show Obstacle Detected for fcw + if visual_alert == VisualAlert.fcw: + values["LKAS_State_Infotainment"] = 2 + + return packer.make_can_msg("INFOTAINMENT_STATUS", 0, values) + + # *** Subaru Pre-global *** def subaru_preglobal_checksum(packer, values, addr): dat = packer.make_can_msg(addr, 0, values)[2] return (sum(dat[:7])) % 256 + def create_preglobal_steering_control(packer, apply_steer): values = { "LKAS_Command": apply_steer, @@ -91,11 +183,29 @@ def create_preglobal_steering_control(packer, apply_steer): return packer.make_can_msg("ES_LKAS", 0, values) + def create_preglobal_es_distance(packer, cruise_button, es_distance_msg): + values = {s: es_distance_msg[s] for s in [ + "Cruise_Throttle", + "Signal1", + "Car_Follow", + "Signal2", + "Brake_On", + "Distance_Swap", + "Standstill", + "Signal3", + "Close_Distance", + "Signal4", + "Standstill_2", + "Cruise_Fault", + "Signal5", + "COUNTER", + "Signal6", + "Cruise_Button", + "Signal7", + ]} - values = copy.copy(es_distance_msg) values["Cruise_Button"] = cruise_button - values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_Distance") return packer.make_can_msg("ES_Distance", 0, values) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 5c7d3f5e4d..660bdcaaab 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -1,11 +1,11 @@ from dataclasses import dataclass -from enum import Enum +from enum import IntFlag from typing import Dict, List, Union from cereal import car from panda.python import uds from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarInfo, Harness +from selfdrive.car.docs_definitions import CarInfo, CarPart, CarParts from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 Ecu = car.CarParams.Ecu @@ -30,6 +30,10 @@ class CarControllerParams: self.STEER_MAX = 2047 +class SubaruFlags(IntFlag): + SEND_INFOTAINMENT = 1 + + class CAR: # Global platform ASCENT = "SUBARU ASCENT LIMITED 2019" @@ -49,13 +53,13 @@ class CAR: @dataclass class SubaruCarInfo(CarInfo): package: str = "EyeSight Driver Assistance" - harness: Enum = Harness.subaru_a + car_parts: CarParts = CarParts.common([CarPart.subaru_a]) CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"), - CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness=Harness.subaru_b), - CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", harness=Harness.subaru_b), + CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarPart.subaru_b])), + CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarPart.subaru_b])), CAR.IMPREZA: [ SubaruCarInfo("Subaru Impreza 2017-19"), SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), @@ -185,6 +189,7 @@ FW_VERSIONS = { b'\x00\x00d\xdc\x00\x00\x00\x00', b'\x00\x00dd\x00\x00\x00\x00', b'\x00\x00c\xf4\x1f@ \x07', + b'\x00\x00e\x1c\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\xaa\x61\x66\x73\x07', @@ -205,6 +210,8 @@ FW_VERSIONS = { b'\xc5!dr\x07', b'\xaa!aw\x07', b'\xaa!av\x07', + b'\xaa\x01bt\x07', + b'\xc5!ap\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\xe3\xe5\x46\x31\x00', @@ -220,6 +227,7 @@ FW_VERSIONS = { b'\xe4\xf5\002\000\000', b'\xe3\xd0\x081\x00', b'\xe3\xf5\x06\x00\x00', + b'\xe3\xd5\x161\x00', ], }, CAR.IMPREZA_2020: { @@ -239,7 +247,7 @@ FW_VERSIONS = { ], (Ecu.fwdCamera, 0x787, None): [ b'\000\000eb\037@ \"', - b'\000\000e\x8f\037@ )', + b'\x00\x00e\x8f\x1f@ )', b'\x00\x00eq\x1f@ "', b'\x00\x00eq\x00\x00\x00\x00', b'\x00\x00e\x8f\x00\x00\x00\x00', @@ -254,6 +262,7 @@ FW_VERSIONS = { b'\xca!fp\x07', b'\xf3"f@\x07', b'\xe6!fp\x07', + b'\xf3"fp\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\xe6\xf5\004\000\000', @@ -273,9 +282,12 @@ FW_VERSIONS = { b'\xa3 \031\024\000', b'\xa3 \x14\x01', b'\xf1\x00\xbb\r\x05', + b'\xa3 \x18&\x00', + b'\xa3 \x19&\x00', ], (Ecu.eps, 0x746, None): [ b'\x8d\xc0\x04\x00', + b'\x8d\xc0\x00\x00', ], (Ecu.fwdCamera, 0x787, None): [ b'\x00\x00e!\x1f@ \x11', @@ -284,6 +296,8 @@ FW_VERSIONS = { b'\xf1\x00\xac\x02\x00', b'\x00\x00e!\x00\x00\x00\x00', b'\x00\x00e\x97\x00\x00\x00\x00', + b'\x00\x00e^\x1f@ !', + b'\x00\x00e^\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\xb6"`A\x07', @@ -292,6 +306,7 @@ FW_VERSIONS = { b'\xcb\"`p\a', b'\xf1\x00\xa2\x10\n', b'\xcf"`p\x07', + b'\xb6\xa2`A\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\032\xf6B0\000', @@ -299,6 +314,8 @@ FW_VERSIONS = { b'\032\xf6b`\000', b'\x1a\xf6B`\x00', b'\x1a\xf6b0\x00', + b'\x1a\xe6B1\x00', + b'\x1a\xe6F1\x00', ], }, CAR.FORESTER_PREGLOBAL: { @@ -466,6 +483,7 @@ FW_VERSIONS = { b'\xa1 "\t\x01', b'\xa1 \x08\x02', b'\xa1 \x06\x02', + b'\xa1 \x07\x02', b'\xa1 \x08\x00', b'\xa1 "\t\x00', ], @@ -477,6 +495,7 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x787, None): [ b'\x00\x00eJ\x00\x1f@ \x19\x00', b'\000\000e\x80\000\037@ \031\000', + b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00', b'\x00\x00e\x9a\x00\x1f@ 1\x00', b'\x00\x00eJ\x00\x00\x00\x00\x00\x00', ], @@ -486,10 +505,12 @@ FW_VERSIONS = { b'\xde"`0\a', b'\xf1\x82\xbc,\xa0q\a', b'\xf1\x82\xe3,\xa0@\x07', + b'\xe2"`0\x07', b'\xe2"`p\x07', b'\xf1\x82\xe2,\xa0@\x07', b'\xbc"`q\x07', b'\xe3,\xa0@\x07', + b'\xbc,\xa0u\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\xa5\xfe\xf7@\x00', @@ -497,7 +518,9 @@ FW_VERSIONS = { b'\xa5\xfe\xf6@\x00', b'\xa7\x8e\xf40\x00', b'\xf1\x82\xa7\xf6D@\x00', + b'\xa7\xf6D@\x00', b'\xa7\xfe\xf4@\x00', + b'\xa5\xfe\xf8@\x00', ], }, } diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py index 70d49896cb..afd3fb3be4 100755 --- a/selfdrive/car/tesla/interface.py +++ b/selfdrive/car/tesla/interface.py @@ -8,7 +8,7 @@ from selfdrive.car.interfaces import CarInterfaceBase class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "tesla" # There is no safe way to do steer blending with user torque, diff --git a/selfdrive/car/tesla/teslacan.py b/selfdrive/car/tesla/teslacan.py index e5d904f80e..c84f2c45be 100644 --- a/selfdrive/car/tesla/teslacan.py +++ b/selfdrive/car/tesla/teslacan.py @@ -1,4 +1,3 @@ -import copy import crcmod from common.conversions import Conversions as CV @@ -31,7 +30,40 @@ class TeslaCAN: return self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values) def create_action_request(self, msg_stw_actn_req, cancel, bus, counter): - values = copy.copy(msg_stw_actn_req) + # We copy this whole message when spamming cancel + values = {s: msg_stw_actn_req[s] for s in [ + "SpdCtrlLvr_Stat", + "VSL_Enbl_Rq", + "SpdCtrlLvrStat_Inv", + "DTR_Dist_Rq", + "TurnIndLvr_Stat", + "HiBmLvr_Stat", + "WprWashSw_Psd", + "WprWash_R_Sw_Posn_V2", + "StW_Lvr_Stat", + "StW_Cond_Flt", + "StW_Cond_Psd", + "HrnSw_Psd", + "StW_Sw00_Psd", + "StW_Sw01_Psd", + "StW_Sw02_Psd", + "StW_Sw03_Psd", + "StW_Sw04_Psd", + "StW_Sw05_Psd", + "StW_Sw06_Psd", + "StW_Sw07_Psd", + "StW_Sw08_Psd", + "StW_Sw09_Psd", + "StW_Sw10_Psd", + "StW_Sw11_Psd", + "StW_Sw12_Psd", + "StW_Sw13_Psd", + "StW_Sw14_Psd", + "StW_Sw15_Psd", + "WprSw6Posn", + "MC_STW_ACTN_RQ", + "CRC_STW_ACTN_RQ", + ]} if cancel: values["SpdCtrlLvr_Stat"] = 1 diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 02e37492d3..74834065fb 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -16,9 +16,7 @@ from selfdrive.car.body.values import CAR as COMMA # TODO: add routes for these cars non_tested_cars = [ - FORD.ESCAPE_MK4, FORD.FOCUS_MK4, - FORD.MAVERICK_MK1, GM.CADILLAC_ATS, GM.HOLDEN_ASTRA, GM.MALIBU, @@ -27,6 +25,8 @@ non_tested_cars = [ HYUNDAI.KIA_OPTIMA_H, HONDA.ODYSSEY_CHN, VOLKSWAGEN.CRAFTER_MK2, # need a route from an ACC-equipped Crafter + TOYOTA.RAV4_TSS2_2023, + TOYOTA.RAV4H_TSS2_2023, ] CarTestRoute = namedtuple('CarTestRoute', ['route', 'car_model', 'segment'], defaults=(None,)) @@ -45,17 +45,21 @@ routes = [ CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6), CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.BRONCO_SPORT_MK1), + CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.ESCAPE_MK4), CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6), + CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.MAVERICK_MK1), #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION), CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA), CarTestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL), + CarTestRoute("75a6bcb9b8b40373|2023-03-11--22-47-33", GM.BUICK_LACROSSE), CarTestRoute("ef8f2185104d862e|2023-02-09--18-37-13", GM.ESCALADE), CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV), CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT), CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV, segment=1), CarTestRoute("555d4087cf86aa91|2022-12-02--12-15-07", GM.BOLT_EUV, segment=14), # Bolt EV CarTestRoute("38aa7da107d5d252|2022-08-15--16-01-12", GM.SILVERADO), + CarTestRoute("5085c761395d1fe6|2023-04-07--18-20-06", GM.TRAILBLAZER), CarTestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G), CarTestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.CIVIC), @@ -65,6 +69,7 @@ routes = [ CarTestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.FIT), CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED), CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HRV), + CarTestRoute("320098ff6c5e4730|2023-04-13--17-47-46", HONDA.HRV_3G), CarTestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX), CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD), # 1.5T CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD), # 2.0T @@ -123,9 +128,11 @@ routes = [ CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER), CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6), # HDA2 CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6), # HDA1 + CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6), CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021), CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020), CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV), + CarTestRoute("b153671049a867b3|2023-04-05--10-00-30", HYUNDAI.KIA_NIRO_EV_2ND_GEN), CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV), CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021), CarTestRoute("db04d2c63990e3ba|2023-02-08--16-52-39", HYUNDAI.KIA_NIRO_HEV_2ND_GEN), @@ -137,6 +144,7 @@ routes = [ CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021), CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID), CarTestRoute("715ac05b594e9c59|2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020), + CarTestRoute("6b0d44d22df18134|2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80), CarTestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.ALPHARD_TSS2), CarTestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.ALPHARDH_TSS2), @@ -159,6 +167,7 @@ routes = [ CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022), CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2), CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022), + CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES), CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2), CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3), CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ESH_TSS2), @@ -182,6 +191,7 @@ routes = [ CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI), CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR), CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.CHR_TSS2), + CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2), # openpilot longitudinal, with smartDSU CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH), CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHRH_TSS2), CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V), @@ -206,6 +216,7 @@ routes = [ CarTestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2), CarTestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1), CarTestRoute("fc6b6c9a3471c846|2021-05-27--13-39-56", VOLKSWAGEN.SEAT_LEON_MK3), + CarTestRoute("0bbe367c98fa1538|2023-03-04--17-46-11", VOLKSWAGEN.SKODA_FABIA_MK4), CarTestRoute("12d6ae3057c04b0d|2021-09-15--00-04-07", VOLKSWAGEN.SKODA_KAMIQ_MK1), CarTestRoute("12d6ae3057c04b0d|2021-09-04--21-21-21", VOLKSWAGEN.SKODA_KAROQ_MK1), CarTestRoute("90434ff5d7c8d603|2021-03-15--12-07-31", VOLKSWAGEN.SKODA_KODIAQ_MK1), diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index ac8213e4c1..7198218d6a 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -6,9 +6,9 @@ from parameterized import parameterized from cereal import car from selfdrive.car import gen_empty_fingerprint -from selfdrive.car.fingerprints import all_known_cars from selfdrive.car.car_helpers import interfaces -from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS +from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS, all_known_cars + class TestCarInterfaces(unittest.TestCase): @@ -25,7 +25,7 @@ class TestCarInterfaces(unittest.TestCase): car_fw = [] - car_params = CarInterface.get_params(car_name, fingerprints, car_fw, experimental_long=False) + car_params = CarInterface.get_params(car_name, fingerprints, car_fw, experimental_long=False, docs=False) car_interface = CarInterface(car_params, CarController, CarState) assert car_params assert car_interface @@ -51,7 +51,7 @@ class TestCarInterfaces(unittest.TestCase): elif tune.which() == 'torque': self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0) - self.assertTrue(not math.isnan(tune.torque.friction)) + self.assertTrue(not math.isnan(tune.torque.friction) and tune.torque.friction > 0) elif tune.which() == 'indi': self.assertTrue(len(tune.indi.outerLoopGainV)) diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py index e56f98f7a8..4b53489b73 100755 --- a/selfdrive/car/tests/test_docs.py +++ b/selfdrive/car/tests/test_docs.py @@ -5,7 +5,7 @@ import unittest from selfdrive.car.car_helpers import interfaces, get_interface_attr from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info -from selfdrive.car.docs_definitions import Column, Harness, Star +from selfdrive.car.docs_definitions import CarPart, Column, PartType, Star from selfdrive.car.honda.values import CAR as HONDA @@ -74,7 +74,11 @@ class TestCarDocs(unittest.TestCase): if car.name == "comma body": raise unittest.SkipTest - self.assertNotIn(car.harness, [None, Harness.none], f"Need to specify car harness: {car.name}") + car_part_type = [p.value.type for p in car.car_parts.parts] + self.assertTrue(len(car.car_parts.parts) > 0, f"Need to specify car parts: {car.name}") + self.assertTrue(car_part_type.count(PartType.connector) == 1, f"Need to specify one harness connector: {car.name}") + self.assertTrue(car_part_type.count(PartType.mount) == 1, f"Need to specify one mount: {car.name}") + self.assertTrue(CarPart.right_angle_obd_c_cable_1_5ft in car.car_parts.parts, f"Need to specify a right angle OBD-C cable (1.5ft): {car.name}") if __name__ == "__main__": diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index e9f23145cd..c069280d11 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -1,19 +1,29 @@ #!/usr/bin/env python3 import random +import time import unittest from collections import defaultdict from parameterized import parameterized +import threading from cereal import car -from selfdrive.car.car_helpers import get_interface_attr, interfaces +from common.params import Params +from selfdrive.car.car_helpers import interfaces from selfdrive.car.fingerprints import FW_VERSIONS -from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, match_fw_to_car +from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, VERSIONS, match_fw_to_car, get_fw_versions CarFw = car.CarParams.CarFw Ecu = car.CarParams.Ecu ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} -VERSIONS = get_interface_attr("FW_VERSIONS", ignore_none=True) + + +class FakeSocket: + def receive(self, non_blocking=False): + pass + + def send(self, msg): + pass class TestFwFingerprint(unittest.TestCase): @@ -104,5 +114,69 @@ class TestFwFingerprint(unittest.TestCase): f'{brand.title()}: FW query whitelist missing ecus: {ecu_strings}') +class TestFwFingerprintTiming(unittest.TestCase): + @staticmethod + def _benchmark(brand, num_pandas, n): + params = Params() + fake_socket = FakeSocket() + + times = [] + for _ in range(n): + params.put_bool("ObdMultiplexingEnabled", True) + thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand), kwargs=dict(num_pandas=num_pandas)) + thread.start() + t = time.perf_counter() + while thread.is_alive(): + time.sleep(0.02) + if not params.get_bool("ObdMultiplexingChanged"): + params.put_bool("ObdMultiplexingChanged", True) + times.append(time.perf_counter() - t) + + return round(sum(times) / len(times), 2) + + def _assert_timing(self, avg_time, ref_time, tol): + self.assertLess(avg_time, ref_time + tol) + self.assertGreater(avg_time, ref_time - tol, "Performance seems to have improved, update test refs.") + + def test_fw_query_timing(self): + tol = 0.1 + total_ref_time = 4.6 + brand_ref_times = { + 1: { + 'body': 0.1, + 'chrysler': 0.3, + 'ford': 0.2, + 'honda': 0.5, + 'hyundai': 0.7, + 'mazda': 0.1, + 'nissan': 0.3, + 'subaru': 0.1, + 'tesla': 0.2, + 'toyota': 0.7, + 'volkswagen': 0.2, + }, + 2: { + 'hyundai': 1.1, + } + } + + total_time = 0 + for num_pandas in (1, 2): + for brand, config in FW_QUERY_CONFIGS.items(): + with self.subTest(brand=brand, num_pandas=num_pandas): + multi_panda_requests = [r for r in config.requests if r.bus > 3] + if not len(multi_panda_requests) and num_pandas > 1: + raise unittest.SkipTest("No multi-panda FW queries") + + avg_time = self._benchmark(brand, num_pandas, 10) + total_time += avg_time + self._assert_timing(avg_time, brand_ref_times[num_pandas][brand], tol) + print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds') + + with self.subTest(brand='all_brands'): + self._assert_timing(total_time, total_ref_time, tol) + print(f'all brands, total FW query time={total_time} seconds') + + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py index 3efdd7404e..7ccd5e3c97 100755 --- a/selfdrive/car/tests/test_lateral_limits.py +++ b/selfdrive/car/tests/test_lateral_limits.py @@ -10,24 +10,23 @@ from common.realtime import DT_CTRL from selfdrive.car.car_helpers import interfaces from selfdrive.car.fingerprints import all_known_cars from selfdrive.car.interfaces import get_torque_params -from selfdrive.car.hyundai.values import CAR as HYUNDAI +from selfdrive.car.subaru.values import CAR as SUBARU CAR_MODELS = all_known_cars() -# ISO 11270 -MAX_LAT_JERK = 2.5 # m/s^3 -MAX_LAT_JERK_TOLERANCE = 0.75 # m/s^3 -MAX_LAT_ACCEL = 3.0 # m/s^2 +# ISO 11270 - allowed up jerk is strictly lower than recommended limits +MAX_LAT_ACCEL = 3.0 # m/s^2 +MAX_LAT_JERK_UP = 2.5 # m/s^3 +MAX_LAT_JERK_DOWN = 5.0 # m/s^3 +MAX_LAT_JERK_UP_TOLERANCE = 0.5 # m/s^3 # jerk is measured over half a second -JERK_MEAS_FRAMES = 0.5 / DT_CTRL +JERK_MEAS_T = 0.5 -# TODO: update the max measured lateral accel for these cars +# TODO: put these cars within limits ABOVE_LIMITS_CARS = [ - HYUNDAI.KONA_EV, - HYUNDAI.KONA_HEV, - HYUNDAI.KONA, - HYUNDAI.KONA_EV_2022, + SUBARU.LEGACY, + SUBARU.OUTBACK, ] car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict) @@ -62,20 +61,24 @@ class TestLateralLimits(unittest.TestCase): @staticmethod def calculate_0_5s_jerk(control_params, torque_params): steer_step = control_params.STEER_STEP - steer_up_per_frame = (control_params.STEER_DELTA_UP / control_params.STEER_MAX) / steer_step - steer_down_per_frame = (control_params.STEER_DELTA_DOWN / control_params.STEER_MAX) / steer_step + max_lat_accel = torque_params['MAX_LAT_ACCEL_MEASURED'] - steer_up_0_5_sec = min(steer_up_per_frame * JERK_MEAS_FRAMES, 1.0) - steer_down_0_5_sec = min(steer_down_per_frame * JERK_MEAS_FRAMES, 1.0) + # Steer up/down delta per 10ms frame, in percentage of max torque + steer_up_per_frame = control_params.STEER_DELTA_UP / control_params.STEER_MAX / steer_step + steer_down_per_frame = control_params.STEER_DELTA_DOWN / control_params.STEER_MAX / steer_step - max_lat_accel = torque_params['MAX_LAT_ACCEL_MEASURED'] - return steer_up_0_5_sec * max_lat_accel, steer_down_0_5_sec * max_lat_accel + # Lateral acceleration reached in 0.5 seconds, clipping to max torque + accel_up_0_5_sec = min(steer_up_per_frame * JERK_MEAS_T / DT_CTRL, 1.0) * max_lat_accel + accel_down_0_5_sec = min(steer_down_per_frame * JERK_MEAS_T / DT_CTRL, 1.0) * max_lat_accel + + # Convert to m/s^3 + return accel_up_0_5_sec / JERK_MEAS_T, accel_down_0_5_sec / JERK_MEAS_T def test_jerk_limits(self): up_jerk, down_jerk = self.calculate_0_5s_jerk(self.control_params, self.torque_params) car_model_jerks[self.car_model] = {"up_jerk": up_jerk, "down_jerk": down_jerk} - self.assertLessEqual(up_jerk, MAX_LAT_JERK + MAX_LAT_JERK_TOLERANCE) - self.assertLessEqual(down_jerk, MAX_LAT_JERK + MAX_LAT_JERK_TOLERANCE) + self.assertLessEqual(up_jerk, MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE) + self.assertLessEqual(down_jerk, MAX_LAT_JERK_DOWN) def test_max_lateral_accel(self): self.assertLessEqual(self.torque_params["MAX_LAT_ACCEL_MEASURED"], MAX_LAT_ACCEL) @@ -88,7 +91,8 @@ if __name__ == "__main__": max_car_model_len = max([len(car_model) for car_model in car_model_jerks]) for car_model, _jerks in sorted(car_model_jerks.items(), key=lambda i: i[1]['up_jerk'], reverse=True): - violation = any([_jerk >= MAX_LAT_JERK + MAX_LAT_JERK_TOLERANCE for _jerk in _jerks.values()]) + violation = _jerks["up_jerk"] > MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE or \ + _jerks["down_jerk"] > MAX_LAT_JERK_DOWN violation_str = " - VIOLATION" if violation else "" print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}") diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 6fbe1436f1..6a89da3e7c 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -103,7 +103,7 @@ class TestCarModelBase(unittest.TestCase): cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime) cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model] - cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, car_fw, experimental_long) + cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, car_fw, experimental_long, docs=False) assert cls.CP assert cls.CP.carFingerprint == cls.car_model diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index cc1681bce1..afd4624a81 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -7,6 +7,10 @@ NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan] NISSAN LEAF 2018: [.nan, 1.5, .nan] NISSAN ROGUE 2019: [.nan, 1.5, .nan] +# Toyota LTA also has torque +TOYOTA RAV4 2023: [.nan, 3.0, .nan] +TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan] + # Tesla has high torque TESLA AP1 MODEL S: [.nan, 2.5, .nan] TESLA AP2 MODEL S: [.nan, 2.5, .nan] @@ -23,12 +27,13 @@ FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan] COMMA BODY: [.nan, 1000, .nan] # Totally new cars -RAM 1500 5TH GEN: [2.0, 2.0, 0.0] -RAM HD 5TH GEN: [1.4, 1.4, 0.0] +RAM 1500 5TH GEN: [2.0, 2.0, 0.05] +RAM HD 5TH GEN: [1.4, 1.4, 0.05] SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11] CADILLAC ESCALADE 2017: [1.899999976158142, 1.842270016670227, 0.1120000034570694] CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05] CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112] +CHEVROLET TRAILBLAZER 2021: [1.33, 1.9, 0.16] CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05] VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1] VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1] @@ -40,9 +45,12 @@ KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1] GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1] KIA SORENTO 4TH GEN: [2.5, 2.5, 0.1] KIA NIRO HYBRID 2ND GEN: [2.42, 2.5, 0.12] +KIA NIRO EV 2ND GEN: [2.05, 2.5, 0.14] +GENESIS GV80 2023: [2.5, 2.5, 0.1] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] # Manually checked HONDA CIVIC 2022: [2.5, 1.2, 0.15] +HONDA HR-V 2023: [2.5, 1.2, 0.2] diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index 6f8cfe0ce6..cb423e1d87 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -30,7 +30,7 @@ HYUNDAI IONIQ 5 2022: [3.172929, 2.713050, 0.096019] HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276] HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778] HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482] -HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 3.2961956260770484, 0.12359762054065548] +HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 2.307336938253934, 0.12359762054065548] HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651] HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945] HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963] diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index 61243424f0..5ea84e5591 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -12,6 +12,7 @@ TOYOTA C-HR HYBRID 2018: TOYOTA C-HR 2018 TOYOTA C-HR HYBRID 2022: TOYOTA C-HR 2021 LEXUS IS 2018: LEXUS NX 2018 LEXUS CT HYBRID 2018 : LEXUS NX 2018 +LEXUS ES 2018: TOYOTA CAMRY HYBRID 2018 LEXUS ES HYBRID 2018: TOYOTA CAMRY HYBRID 2018 LEXUS NX HYBRID 2020: LEXUS NX 2020 LEXUS RC 2020: LEXUS NX 2020 @@ -50,12 +51,14 @@ HONDA CIVIC SEDAN 1.6 DIESEL 2019: HONDA CIVIC (BOSCH) 2019 HONDA E 2020: HONDA CIVIC (BOSCH) 2019 HONDA ODYSSEY CHN 2019: HONDA ODYSSEY 2018 +BUICK LACROSSE 2017: CHEVROLET VOLT PREMIER 2017 BUICK REGAL ESSENCE 2018: CHEVROLET VOLT PREMIER 2017 CADILLAC ESCALADE ESV 2016: CHEVROLET VOLT PREMIER 2017 CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017 CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017 HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017 +SKODA FABIA 4TH GEN: VOLKSWAGEN GOLF 7TH GEN SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 2e0d7009c8..66a7b57f01 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -1,6 +1,6 @@ from cereal import car from common.numpy_fast import clip, interp -from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_interceptor_command, make_can_msg +from selfdrive.car import apply_meas_steer_torque_limits, create_gas_interceptor_command, make_can_msg from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \ create_accel_command, create_acc_cancel_command, \ create_fcw_command, create_lta_steer_command @@ -60,7 +60,7 @@ class CarController: # steer torque new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX)) - apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits) + apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits) # Count up to MAX_STEER_RATE_FRAMES, at which point we need to cut torque to avoid a steering fault if lat_active and abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE: @@ -76,6 +76,11 @@ class CarController: apply_steer_req = 0 self.steer_rate_counter = 0 + # Never actuate with LKA on cars that only support LTA + if self.CP.steerControlType == car.CarParams.SteerControlType.angle: + apply_steer = 0 + apply_steer_req = 0 + # TODO: probably can delete this. CS.pcm_acc_status uses a different signal # than CS.cruiseState.enabled. confirm they're not meaningfully different if not CC.enabled and CS.pcm_acc_status: diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 050f8747a2..68adc2ee57 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -115,7 +115,8 @@ class CarState(CarStateBase): cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp if self.CP.carFingerprint in (TSS2_CAR | RADAR_ACC_CAR): - self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"] + if not (self.CP.flags & ToyotaFlags.SMART_DSU.value): + self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"] ret.stockFcw = bool(cp_acc.vl["ACC_HUD"]["FCW"]) # some TSS2 cars have low speed lockout permanently set, so ignore on those cars @@ -235,12 +236,17 @@ class CarState(CarStateBase): checks.append(("BSM", 1)) if CP.carFingerprint in RADAR_ACC_CAR: + if not CP.flags & ToyotaFlags.SMART_DSU.value: + signals += [ + ("ACC_TYPE", "ACC_CONTROL"), + ] + checks += [ + ("ACC_CONTROL", 33), + ] signals += [ - ("ACC_TYPE", "ACC_CONTROL"), ("FCW", "ACC_HUD"), ] checks += [ - ("ACC_CONTROL", 33), ("ACC_HUD", 1), ] diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 8b3fd048d9..c222363d18 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -2,7 +2,8 @@ from cereal import car from common.conversions import Conversions as CV from panda import Panda -from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, CarControllerParams, NO_STOP_TIMER_CAR +from selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \ + MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase @@ -15,21 +16,27 @@ class CarInterface(CarInterfaceBase): return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "toyota" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)] ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate] - if candidate in (CAR.RAV4, CAR.PRIUS_V, CAR.COROLLA, CAR.LEXUS_ESH, CAR.LEXUS_CTH): + # BRAKE_MODULE is on a different address for these cars + if DBC[candidate]["pt"] == "toyota_new_mc_pt_generated": ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE + if candidate in ANGLE_CONTROL_CAR: + ret.dashcamOnly = True + ret.steerControlType = car.CarParams.SteerControlType.angle + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA + else: + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay ret.steerLimitTimer = 0.4 ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop stop_and_go = False - steering_angle_deadzone_deg = 0.0 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg) if candidate == CAR.PRIUS: stop_and_go = True @@ -40,9 +47,8 @@ class CarInterface(CarInterfaceBase): # Only give steer angle deadzone to for bad angle sensor prius for fw in car_fw: if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00': - steering_angle_deadzone_deg = 0.2 ret.steerActuatorDelay = 0.25 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg) + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2) elif candidate == CAR.PRIUS_V: stop_and_go = True @@ -102,7 +108,8 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.7983 ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022): + elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, + CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023): stop_and_go = True ret.wheelbase = 2.68986 ret.steerRatio = 14.3 @@ -131,8 +138,9 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG - elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH): - stop_and_go = True + elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2): + if candidate not in (CAR.LEXUS_ES,): # TODO: LEXUS_ES may have sng + stop_and_go = True ret.wheelbase = 2.8702 ret.steerRatio = 16.0 # not optimized tire_stiffness_factor = 0.444 # not optimized yet @@ -194,14 +202,18 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor=tire_stiffness_factor) ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR - # Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it - smartDsu = 0x2FF in fingerprint[0] - # In TSS2 cars the camera does long control + + # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it + if 0x2FF in fingerprint[0]: + ret.flags |= ToyotaFlags.SMART_DSU.value + + # In TSS2 cars, the camera does long control found_ecus = [fw.ecu for fw in car_fw] - ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not smartDsu + ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not (ret.flags & ToyotaFlags.SMART_DSU) ret.enableGasInterceptor = 0x201 in fingerprint[0] + # if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected") - ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) + ret.openpilotLongitudinalControl = bool(ret.flags & ToyotaFlags.SMART_DSU) or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR if not ret.openpilotLongitudinalControl: diff --git a/selfdrive/sensord/__init__.py b/selfdrive/car/toyota/tests/__init__.py similarity index 100% rename from selfdrive/sensord/__init__.py rename to selfdrive/car/toyota/tests/__init__.py diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py new file mode 100755 index 0000000000..5648f75fe7 --- /dev/null +++ b/selfdrive/car/toyota/tests/test_toyota.py @@ -0,0 +1,13 @@ +#!/usr/bin/env python3 +import unittest + +from selfdrive.car.toyota.values import TSS2_CAR, ANGLE_CONTROL_CAR + + +class TestToyotaInterfaces(unittest.TestCase): + def test_angle_car_set(self): + self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0) + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py index 7e360cc4e1..1031361350 100644 --- a/selfdrive/car/toyota/toyotacan.py +++ b/selfdrive/car/toyota/toyotacan.py @@ -17,7 +17,7 @@ def create_lta_steer_command(packer, steer, steer_req, raw_cnt): "SETME_X1": 1, "SETME_X3": 3, "PERCENTAGE": 100, - "SETME_X64": 0x64, + "SETME_X64": 0, "ANGLE": 0, "STEER_ANGLE_CMD": steer, "STEER_REQUEST": steer_req, @@ -99,6 +99,13 @@ def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_dep # lane sway functionality # not all cars have LKAS_HUD — update with camera values if available - values.update(stock_lkas_hud) + if len(stock_lkas_hud): + values.update({s: stock_lkas_hud[s] for s in [ + "LANE_SWAY_FLD", + "LANE_SWAY_BUZZER", + "LANE_SWAY_WARNING", + "LANE_SWAY_SENSITIVITY", + "LANE_SWAY_TOGGLE", + ]}) return packer.make_can_msg("LKAS_HUD", 0, values) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index b6a556438d..5738ba30f5 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -6,7 +6,7 @@ from typing import Dict, List, Union from cereal import car from common.conversions import Conversions as CV from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness +from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarPart, CarParts from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu @@ -33,6 +33,7 @@ class CarControllerParams: class ToyotaFlags(IntFlag): HYBRID = 1 + SMART_DSU = 2 class CAR: @@ -67,13 +68,16 @@ class CAR: RAV4H = "TOYOTA RAV4 HYBRID 2017" RAV4_TSS2 = "TOYOTA RAV4 2019" RAV4_TSS2_2022 = "TOYOTA RAV4 2022" + RAV4_TSS2_2023 = "TOYOTA RAV4 2023" RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019" RAV4H_TSS2_2022 = "TOYOTA RAV4 HYBRID 2022" + RAV4H_TSS2_2023 = "TOYOTA RAV4 HYBRID 2023" MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5 SIENNA = "TOYOTA SIENNA 2018" # Lexus LEXUS_CTH = "LEXUS CT HYBRID 2018" + LEXUS_ES = "LEXUS ES 2018" LEXUS_ESH = "LEXUS ES HYBRID 2018" LEXUS_ES_TSS2 = "LEXUS ES 2019" LEXUS_ESH_TSS2 = "LEXUS ES HYBRID 2019" @@ -98,7 +102,7 @@ class Footnote(Enum): @dataclass class ToyotaCarInfo(CarInfo): package: str = "All" - harness: Enum = Harness.toyota + car_parts: CarParts = CarParts.common([CarPart.toyota]) CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { @@ -115,12 +119,12 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.AVALONH_TSS2: ToyotaCarInfo("Toyota Avalon Hybrid 2022"), CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]), CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"), - CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-22", footnotes=[Footnote.CAMRY]), + CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-23", footnotes=[Footnote.CAMRY]), CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-23"), CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-20"), CAR.CHR_TSS2: ToyotaCarInfo("Toyota C-HR 2021"), - CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-19"), - CAR.CHRH_TSS2: ToyotaCarInfo("Toyota C-HR Hybrid 2022"), + CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"), + CAR.CHRH_TSS2: ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"), CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19"), CAR.COROLLA_TSS2: [ ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), @@ -138,7 +142,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"), CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"), CAR.PRIUS: [ - ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", "https://www.youtube.com/watch?v=8zopPJI8XQ0"), + ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), ], @@ -152,19 +156,22 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ToyotaCarInfo("Toyota RAV4 2017-18") ], CAR.RAV4H: [ - ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", "https://youtu.be/LhT5VzJVfNI?t=26"), + ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"), ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26") ], CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"), CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"), + CAR.RAV4_TSS2_2023: ToyotaCarInfo("Toyota RAV4 2023"), CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"), CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"), + CAR.RAV4H_TSS2_2023: ToyotaCarInfo("Toyota RAV4 Hybrid 2023"), CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"), CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED), # Lexus CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"), - CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "Lexus Safety System+"), + CAR.LEXUS_ES: ToyotaCarInfo("Lexus ES 2017-18"), + CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18"), CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"), CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"), CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"), @@ -172,7 +179,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19"), CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"), CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"), - CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-20"), + CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2018-20"), CAR.LEXUS_RX: [ ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"), ToyotaCarInfo("Lexus RX 2017-19"), @@ -188,23 +195,24 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { # (addr, cars, bus, 1/freq*100, vl) STATIC_DSU_MSGS = [ (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'), - (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 3, b'\x03\x00\x20\x00\x00\x52'), - (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'), - (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'), - (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'), + (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH), 1, 3, b'\x03\x00\x20\x00\x00\x52'), + (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'), + (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'), + (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'), (0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'), - (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'), + (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'), (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'), (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'), (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'), - (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'), + (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'), (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'), - (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'), + (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'), (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'), (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'), + (0x366, (CAR.LEXUS_ES,), 0, 20, b'\x00\x95\x07\xfe\x08\x05\x00'), (0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'), - (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.PRIUS_V), 1, 100, b'\x00\x00\x01\x79'), - (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), + (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.PRIUS_V), 1, 100, b'\x00\x00\x01\x79'), + (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), ] TOYOTA_VERSION_REQUEST = b'\x1a\x88\x01' @@ -323,6 +331,7 @@ 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): [ @@ -330,6 +339,7 @@ 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', @@ -527,14 +537,19 @@ FW_VERSIONS = { CAR.CAMRY_TSS2: { (Ecu.eps, 0x7a1, None): [ b'8965B33630\x00\x00\x00\x00\x00\x00', + b'8965B33640\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'\x01F152606370\x00\x00\x00\x00\x00\x00', b'\x01F152606390\x00\x00\x00\x00\x00\x00', b'\x01F152606400\x00\x00\x00\x00\x00\x00', + b'\x01F152606431\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ b'\x018966306Q5000\x00\x00\x00\x00', + b'\x018966306Q9000\x00\x00\x00\x00', + b'\x018966306R3000\x00\x00\x00\x00', + b'\x018966306R8000\x00\x00\x00\x00', b'\x018966306T3100\x00\x00\x00\x00', b'\x018966306T3200\x00\x00\x00\x00', b'\x018966306T4000\x00\x00\x00\x00', @@ -542,12 +557,16 @@ FW_VERSIONS = { ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F6201200\x00\x00\x00\x00', + b'\x018821F6201300\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646F0602100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F0602200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F0602300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F3305200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', ], }, CAR.CAMRYH_TSS2: { @@ -712,25 +731,32 @@ FW_VERSIONS = { b'8646FF404000 ', b'8646FF406000 ', b'8646FF407000 ', + b'8646FF407100 ', ], }, CAR.CHRH_TSS2: { - (Ecu.eps, 0x7a1, None): [ - b'8965B10092\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ - b'F152610041\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x700, None): [ - b'\x0189663F438000\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 15): [ - b'\x018821FF410500\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 109): [ - b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00', - ], - }, + (Ecu.eps, 0x7a1, None): [ + b'8965B10092\x00\x00\x00\x00\x00\x00', + b'8965B10091\x00\x00\x00\x00\x00\x00', + b'8965B10111\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'F152610041\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x0189663F438000\x00\x00\x00\x00', + b'\x02896631025000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x0289663F453000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 15): [ + b'\x018821FF410500\x00\x00\x00\x00', + b'\x018821FF410300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 109): [ + b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00', + b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00', + ], + }, CAR.COROLLA: { (Ecu.engine, 0x7e0, None): [ b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00', @@ -898,6 +924,7 @@ FW_VERSIONS = { b'\x028966312K6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x028966312L0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x028966312Q3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966312Q3100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x028966312Q4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x038966312L7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00', b'\x038966312N1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00', @@ -908,6 +935,7 @@ FW_VERSIONS = { b'8965B12451\x00\x00\x00\x00\x00\x00', b'8965B16011\x00\x00\x00\x00\x00\x00', b'8965B16101\x00\x00\x00\x00\x00\x00', + b'8965B16170\x00\x00\x00\x00\x00\x00', b'8965B76012\x00\x00\x00\x00\x00\x00', b'8965B76050\x00\x00\x00\x00\x00\x00', b'\x018965B12350\x00\x00\x00\x00\x00\x00', @@ -935,6 +963,7 @@ FW_VERSIONS = { b'F152612D00\x00\x00\x00\x00\x00\x00', b'F152616011\x00\x00\x00\x00\x00\x00', b'F152616060\x00\x00\x00\x00\x00\x00', + b'F152616030\x00\x00\x00\x00\x00\x00', b'F152642540\x00\x00\x00\x00\x00\x00', b'F152676293\x00\x00\x00\x00\x00\x00', b'F152676303\x00\x00\x00\x00\x00\x00', @@ -1047,6 +1076,7 @@ FW_VERSIONS = { b'\x01896630E62200\x00\x00\x00\x00', b'\x01896630E64100\x00\x00\x00\x00', b'\x01896630E64200\x00\x00\x00\x00', + b'\x01896630E64400\x00\x00\x00\x00', b'\x01896630EB1000\x00\x00\x00\x00', b'\x01896630EB1100\x00\x00\x00\x00', b'\x01896630EB1200\x00\x00\x00\x00', @@ -1089,6 +1119,7 @@ FW_VERSIONS = { b'\x01F152648J4000\x00\x00\x00\x00', b'\x01F152648J5000\x00\x00\x00\x00', b'\x01F152648J6000\x00\x00\x00\x00', + b'\x01F15264872700\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ b'\x01896630E67000\x00\x00\x00\x00', @@ -1453,6 +1484,23 @@ FW_VERSIONS = { b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00', ], }, + CAR.RAV4_TSS2_2023: { + (Ecu.abs, 0x7b0, None): [ + b'\x01F15260R450\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x01896634AJ2000\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F0R03100\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00', + ], + }, CAR.RAV4H_TSS2: { (Ecu.engine, 0x700, None): [ b'\x01896634A15000\x00\x00\x00\x00', @@ -1540,6 +1588,23 @@ FW_VERSIONS = { b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00', ], }, + CAR.RAV4H_TSS2_2023: { + (Ecu.abs, 0x7b0, None): [ + b'\x01F15264283200\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x01896634AE1001\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F0R03100\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00', + ], + }, CAR.SIENNA: { (Ecu.engine, 0x700, None): [ b'\x01896630832100\x00\x00\x00\x00', @@ -1636,6 +1701,7 @@ FW_VERSIONS = { b'\x028966333S8000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + b'\x028966333W1000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00', b'\x01896633T38000\x00\x00\x00\x00', b'\x01896633T58000\x00\x00\x00\x00', @@ -1671,6 +1737,26 @@ FW_VERSIONS = { b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', ], }, + CAR.LEXUS_ES: { + (Ecu.engine, 0x7e0, None): [ + b'\x02333R0000\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'F152606202\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881513309500\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B33502\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4701200\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F3302200\x00\x00\x00\x00', + ], + }, CAR.LEXUS_ESH: { (Ecu.engine, 0x7e0, None): [ b'\x02333M4200\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', @@ -1726,6 +1812,8 @@ FW_VERSIONS = { (Ecu.engine, 0x700, None): [ b'\x018966378B2100\x00\x00\x00\x00', b'\x018966378B3000\x00\x00\x00\x00', + b'\x018966378B4100\x00\x00\x00\x00', + b'\x018966378G2000\x00\x00\x00\x00', b'\x018966378G3000\x00\x00\x00\x00', b'\x018966378B2000\x00\x00\x00\x00', ], @@ -1748,6 +1836,7 @@ FW_VERSIONS = { CAR.LEXUS_NXH_TSS2: { (Ecu.engine, 0x7e0, None): [ b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02378A0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'F152678210\x00\x00\x00\x00\x00\x00', @@ -1757,6 +1846,7 @@ FW_VERSIONS = { ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F3301400\x00\x00\x00\x00', + b'\x018821F3301300\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646F78030A0\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', @@ -1928,12 +2018,15 @@ FW_VERSIONS = { b'\x01896630ED0000\x00\x00\x00\x00', b'\x01896630ED0100\x00\x00\x00\x00', b'\x01896630ED6000\x00\x00\x00\x00', + b'\x018966348T8000\x00\x00\x00\x00', b'\x018966348W5100\x00\x00\x00\x00', b'\x018966348W9000\x00\x00\x00\x00', b'\x01896634D12000\x00\x00\x00\x00', b'\x01896634D12100\x00\x00\x00\x00', b'\x01896634D43000\x00\x00\x00\x00', b'\x01896634D44000\x00\x00\x00\x00', + b'\x018966348X0000\x00\x00\x00\x00', + b'\x01896630ED5000\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'\x01F15260E031\x00\x00\x00\x00\x00\x00', @@ -1959,11 +2052,12 @@ FW_VERSIONS = { }, CAR.LEXUS_RXH_TSS2: { (Ecu.engine, 0x7e0, None): [ + b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348X5000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02348X8000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'F152648831\x00\x00\x00\x00\x00\x00', @@ -2093,8 +2187,10 @@ DBC = { CAR.AVALONH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.RAV4_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None), + CAR.RAV4_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None), CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.COROLLAH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.LEXUS_ES: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.LEXUS_ESH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.LEXUS_ESH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), @@ -2103,6 +2199,7 @@ DBC = { CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.RAV4H_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None), + CAR.RAV4H_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None), CAR.LEXUS_NXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_NX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), @@ -2117,8 +2214,8 @@ DBC = { EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100}) # Toyota/Lexus Safety Sense 2.0 and 2.5 -TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, - CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, +TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, + CAR.RAV4H_TSS2_2023, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2, CAR.CHRH_TSS2} NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH} @@ -2127,10 +2224,13 @@ NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH} UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC} # these cars have a radar which sends ACC messages instead of the camera -RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.CHR_TSS2, CAR.CHRH_TSS2} +RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2, CAR.CHRH_TSS2} + +# these cars use the Lane Tracing Assist (LTA) message for lateral control +ANGLE_CONTROL_CAR = {CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023} EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS, - CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH, + CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH, CAR.LEXUS_RXH_TSS2, CAR.LEXUS_NXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2} # no resume button press required diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 5d00b5a52f..3b897c0c16 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -3,7 +3,7 @@ from opendbc.can.packer import CANPacker from common.numpy_fast import clip from common.conversions import Conversions as CV from common.realtime import DT_CTRL -from selfdrive.car import apply_std_steer_torque_limits +from selfdrive.car import apply_driver_steer_torque_limits from selfdrive.car.volkswagen import mqbcan, pqcan from selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams @@ -44,7 +44,7 @@ class CarController: if CC.latActive: new_steer = int(round(actuators.steer * self.CCP.STEER_MAX)) - apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP) + apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP) if apply_steer == 0: hcaEnabled = False self.hcaEnabledFrameCount = 0 @@ -101,8 +101,7 @@ class CarController: gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume): - counter = (CS.gra_stock_values["COUNTER"] + 1) % 16 - can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, counter, + can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume)) new_actuators = actuators.copy() diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 64d1246880..f3cd2808a8 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -228,13 +228,13 @@ class CarState(CarStateBase): ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"]) ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2) if self.CP.pcmCruise: - ret.accFaulted = ext_cp.vl["ACC_GRA_Anziege"]["ACA_StaACC"] in (6, 7) + ret.accFaulted = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_StaACC"] in (6, 7) else: ret.accFaulted = pt_cp.vl["Motor_2"]["GRA_Status"] == 3 # Update ACC setpoint. When the setpoint reads as 255, the driver has not # yet established an ACC setpoint, so treat it as zero. - ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anziege"]["ACA_V_Wunsch"] * CV.KPH_TO_MS + ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_V_Wunsch"] * CV.KPH_TO_MS if ret.cruiseState.speed > 70: # 255 kph in m/s == no current setpoint ret.cruiseState.speed = 0 @@ -516,12 +516,12 @@ class PqExtraSignals: # Additional signal and message lists for optional or bus-portable controllers fwd_radar_signals = [ ("ACS_Typ_ACC", "ACC_System"), # Basic vs FtS (no SnG support on PQ) - ("ACA_StaACC", "ACC_GRA_Anziege"), # ACC drivetrain coordinator status - ("ACA_V_Wunsch", "ACC_GRA_Anziege"), # ACC set speed + ("ACA_StaACC", "ACC_GRA_Anzeige"), # ACC drivetrain coordinator status + ("ACA_V_Wunsch", "ACC_GRA_Anzeige"), # ACC set speed ] fwd_radar_checks = [ ("ACC_System", 50), # From J428 ACC radar control module - ("ACC_GRA_Anziege", 25), # From J428 ACC radar control module + ("ACC_GRA_Anzeige", 25), # From J428 ACC radar control module ] bsm_radar_signals = [ ("SWA_Infostufe_SWA_li", "SWA_1"), # Blind spot object info, left diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 521c68184d..874b85e68e 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -21,18 +21,16 @@ class CarInterface(CarInterfaceBase): self.cp_ext = self.cp_cam @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "volkswagen" ret.radarUnavailable = True - use_off_car_defaults = len(fingerprint[0]) == 0 # Pick sensible carParams during offline doc generation/CI jobs - if candidate in PQ_CARS: # Set global PQ35/PQ46/NMS parameters ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)] ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1 - if 0x440 in fingerprint[0] or use_off_car_defaults: # Getriebe_1 + if 0x440 in fingerprint[0] or docs: # Getriebe_1 ret.transmissionType = TransmissionType.automatic else: ret.transmissionType = TransmissionType.manual @@ -55,7 +53,7 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)] ret.enableBsm = 0x30F in fingerprint[0] # SWA_01 - if 0xAD in fingerprint[0] or use_off_car_defaults: # Getriebe_11 + if 0xAD in fingerprint[0] or docs: # Getriebe_11 ret.transmissionType = TransmissionType.automatic elif 0x187 in fingerprint[0]: # EV_Gearshift ret.transmissionType = TransmissionType.direct @@ -80,7 +78,7 @@ class CarInterface(CarInterfaceBase): # Global longitudinal tuning defaults, can be overridden per-vehicle - ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or use_off_car_defaults + ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs if experimental_long: # Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required. ret.openpilotLongitudinalControl = True @@ -187,6 +185,10 @@ class CarInterface(CarInterfaceBase): ret.mass = 1227 + STD_CARGO_KG ret.wheelbase = 2.64 + elif candidate == CAR.SKODA_FABIA_MK4: + ret.mass = 1266 + STD_CARGO_KG + ret.wheelbase = 2.56 + elif candidate == CAR.SKODA_KAMIQ_MK1: ret.mass = 1265 + STD_CARGO_KG ret.wheelbase = 2.66 diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py index 30a51f6fe6..849d99592f 100644 --- a/selfdrive/car/volkswagen/mqbcan.py +++ b/selfdrive/car/volkswagen/mqbcan.py @@ -1,20 +1,25 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled): values = { - "SET_ME_0X3": 0x3, - "Assist_Torque": abs(apply_steer), - "Assist_Requested": lkas_enabled, - "Assist_VZ": 1 if apply_steer < 0 else 0, - "HCA_Available": 1, - "HCA_Standby": not lkas_enabled, - "HCA_Active": lkas_enabled, - "SET_ME_0XFE": 0xFE, - "SET_ME_0X07": 0x07, + "HCA_01_Status_HCA": 5 if lkas_enabled else 3, + "HCA_01_LM_Offset": abs(apply_steer), + "HCA_01_LM_OffSign": 1 if apply_steer < 0 else 0, + "HCA_01_Vib_Freq": 18, + "HCA_01_Sendestatus": 1 if lkas_enabled else 0, + "EA_ACC_Wunschgeschwindigkeit": 327.36, } return packer.make_can_msg("HCA_01", bus, values) def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control): - values = ldw_stock_values.copy() + values = {} + if len(ldw_stock_values): + values = {s: ldw_stock_values[s] for s in [ + "LDW_SW_Warnung_links", # Blind spot in warning mode on left side due to lane departure + "LDW_SW_Warnung_rechts", # Blind spot in warning mode on right side due to lane departure + "LDW_Seite_DLCTLC", # Direction of most likely lane departure (left or right) + "LDW_DLC", # Lane departure, distance to line crossing + "LDW_TLC", # Lane departure, time to line crossing + ]} values.update({ "LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0, @@ -26,11 +31,17 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres return packer.make_can_msg("LDW_02", bus, values) -def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=False, resume=False): - values = gra_stock_values.copy() +def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False): + values = {s: gra_stock_values[s] for s in [ + "GRA_Hauptschalter", # ACC button, on/off + "GRA_Typ_Hauptschalter", # ACC main button type + "GRA_Codierung", # ACC button configuration/coding + "GRA_Tip_Stufe_2", # unknown related to stalk type + "GRA_ButtonTypeInfo", # unknown related to stalk type + ]} values.update({ - "COUNTER": counter, + "COUNTER": (gra_stock_values["COUNTER"] + 1) % 16, "GRA_Abbrechen": cancel, "GRA_Tip_Wiederaufnahme": resume, }) @@ -56,18 +67,18 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active): return acc_control_value(main_switch_on, acc_faulted, long_active) -def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, esp_hold): +def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold): commands = [] acc_06_values = { "ACC_Typ": acc_type, "ACC_Status_ACC": acc_control, - "ACC_StartStopp_Info": enabled, - "ACC_Sollbeschleunigung_02": accel if enabled else 3.01, + "ACC_StartStopp_Info": acc_enabled, + "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01, "ACC_zul_Regelabw_unten": 0.2, # TODO: dynamic adjustment of comfort-band "ACC_zul_Regelabw_oben": 0.2, # TODO: dynamic adjustment of comfort-band - "ACC_neg_Sollbeschl_Grad_02": 4.0 if enabled else 0, # TODO: dynamic adjustment of jerk limits - "ACC_pos_Sollbeschl_Grad_02": 4.0 if enabled else 0, # TODO: dynamic adjustment of jerk limits + "ACC_neg_Sollbeschl_Grad_02": 4.0 if acc_enabled else 0, # TODO: dynamic adjustment of jerk limits + "ACC_pos_Sollbeschl_Grad_02": 4.0 if acc_enabled else 0, # TODO: dynamic adjustment of jerk limits "ACC_Anfahren": starting, "ACC_Anhalten": stopping, } @@ -84,9 +95,9 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, acc_07_values = { "ACC_Anhalteweg": 0.75 if stopping else 20.46, # Distance to stop (stopping coordinator handles terminal roll-out) - "ACC_Freilauf_Info": 2 if enabled else 0, + "ACC_Freilauf_Info": 2 if acc_enabled else 0, "ACC_Folgebeschl": 3.02, # Not using secondary controller accel unless and until we understand its impact - "ACC_Sollbeschleunigung_02": accel if enabled else 3.01, + "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01, "ACC_Anforderung_HMS": acc_hold_type, "ACC_Anfahren": starting, "ACC_Anhalten": stopping, diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py index 130f107950..f42c3cf781 100644 --- a/selfdrive/car/volkswagen/pqcan.py +++ b/selfdrive/car/volkswagen/pqcan.py @@ -10,7 +10,15 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled): def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control): - values = ldw_stock_values.copy() + values = {} + if len(ldw_stock_values): + values = {s: ldw_stock_values[s] for s in [ + "LDW_SW_Warnung_links", # Blind spot in warning mode on left side due to lane departure + "LDW_SW_Warnung_rechts", # Blind spot in warning mode on right side due to lane departure + "LDW_Seite_DLCTLC", # Direction of most likely lane departure (left or right) + "LDW_DLC", # Lane departure, distance to line crossing + "LDW_TLC", # Lane departure, time to line crossing + ]} values.update({ "LDW_Lampe_gelb": 1 if enabled and steering_pressed else 0, @@ -23,11 +31,16 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres return packer.make_can_msg("LDW_Status", bus, values) -def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=False, resume=False): - values = gra_stock_values.copy() +def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False): + values = {s: gra_stock_values[s] for s in [ + "GRA_Hauptschalt", # ACC button, on/off + "GRA_Typ_Hauptschalt", # ACC button, momentary vs latching + "GRA_Kodierinfo", # ACC button, configuration + "GRA_Sender", # ACC button, CAN message originator + ]} values.update({ - "COUNTER": counter, + "COUNTER": (gra_stock_values["COUNTER"] + 1) % 16, "GRA_Abbrechen": cancel, "GRA_Recall": resume, }) @@ -59,17 +72,18 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active): return hud_status -def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, esp_hold): +def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold): commands = [] values = { "ACS_Sta_ADR": acc_control, - "ACS_StSt_Info": acc_control != 1, + "ACS_StSt_Info": acc_enabled, "ACS_Typ_ACC": acc_type, "ACS_Anhaltewunsch": acc_type == 1 and stopping, - "ACS_Sollbeschl": accel if acc_control == 1 else 3.01, - "ACS_zul_Regelabw": 0.2 if acc_control == 1 else 1.27, - "ACS_max_AendGrad": 3.0 if acc_control == 1 else 5.08, + "ACS_FreigSollB": acc_enabled, + "ACS_Sollbeschl": accel if acc_enabled else 3.01, + "ACS_zul_Regelabw": 0.2 if acc_enabled else 1.27, + "ACS_max_AendGrad": 3.0 if acc_enabled else 5.08, } commands.append(packer.make_can_msg("ACC_System", bus, values)) @@ -83,9 +97,9 @@ def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance "ACA_Zeitluecke": 2, "ACA_V_Wunsch": set_speed, "ACA_gemZeitl": lead_distance, - # TODO: ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke - # display/display-prio handling probably needed to stop confusing the instrument cluster - # kmh_mph handling probably needed to resolve rounding errors in displayed setpoint + "ACA_PrioDisp": 3, + # TODO: restore dynamic pop-to-foreground/highlight behavior with ACA_PrioDisp and ACA_AnzDisplay + # TODO: ACA_kmh_mph handling probably needed to resolve rounding errors in displayed setpoint } - return packer.make_can_msg("ACC_GRA_Anziege", bus, values) + return packer.make_can_msg("ACC_GRA_Anzeige", bus, values) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index cd30bef73b..7fe29674a4 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -7,7 +7,7 @@ from cereal import car from panda.python import uds from opendbc.can.can_define import CANDefine from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness +from selfdrive.car.docs_definitions import CarFootnote, CarInfo, CarPart, CarParts, Column from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 Ecu = car.CarParams.Ecu @@ -36,7 +36,7 @@ class CarControllerParams: if CP.carFingerprint in PQ_CARS: self.LDW_STEP = 5 # LDW_1 message frequency 20Hz - self.ACC_HUD_STEP = 4 # ACC_GRA_Anziege frequency 25Hz + self.ACC_HUD_STEP = 4 # ACC_GRA_Anzeige frequency 25Hz self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm self.STEER_DELTA_UP = 6 # Max HCA reached in 1.00s (STEER_MAX / (50Hz * 1.00)) self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60)) @@ -129,6 +129,7 @@ class CAR: AUDI_Q3_MK2 = "AUDI Q3 2ND GEN" # Chassis 8U/F3/FS, Mk2 Audi Q3 and variants SEAT_ATECA_MK1 = "SEAT ATECA 1ST GEN" # Chassis 5F, Mk1 SEAT Ateca and CUPRA Ateca SEAT_LEON_MK3 = "SEAT LEON 3RD GEN" # Chassis 5F, Mk3 SEAT Leon and variants + SKODA_FABIA_MK4 = "SKODA FABIA 4TH GEN" # Chassis PJ, Mk4 Skoda Fabia SKODA_KAMIQ_MK1 = "SKODA KAMIQ 1ST GEN" # Chassis NW, Mk1 Skoda Kamiq SKODA_KAROQ_MK1 = "SKODA KAROQ 1ST GEN" # Chassis NU, Mk1 Skoda Karoq SKODA_KODIAQ_MK1 = "SKODA KODIAQ 1ST GEN" # Chassis NS, Mk1 Skoda Kodiaq @@ -159,13 +160,13 @@ class Footnote(Enum): VW_MQB_A0 = CarFootnote( "Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot " + "in software, but doesn't yet have a harness available from the comma store.", - Column.HARNESS) + Column.HARDWARE) @dataclass class VWCarInfo(CarInfo): package: str = "Adaptive Cruise Control (ACC) & Lane Assist" - harness: Enum = Harness.j533 + car_parts: CarParts = CarParts([CarPart.j533, CarPart.harness_box, CarPart.long_obdc_cable, CarPart.usbc_coupler, CarPart.mount, CarPart.right_angle_obd_c_cable_1_5ft]) def init_make(self, CP: car.CarParams): self.footnotes.insert(0, Footnote.VW_EXP_LONG) @@ -194,11 +195,11 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { ], CAR.GOLF_MK7: [ VWCarInfo("Volkswagen e-Golf 2014-20"), - VWCarInfo("Volkswagen Golf 2015-20"), - VWCarInfo("Volkswagen Golf Alltrack 2015-19"), + VWCarInfo("Volkswagen Golf 2015-20", auto_resume=False), + VWCarInfo("Volkswagen Golf Alltrack 2015-19", auto_resume=False), VWCarInfo("Volkswagen Golf GTD 2015-20"), VWCarInfo("Volkswagen Golf GTE 2015-20"), - VWCarInfo("Volkswagen Golf GTI 2015-21"), + VWCarInfo("Volkswagen Golf GTI 2015-21", auto_resume=False), VWCarInfo("Volkswagen Golf R 2015-19"), VWCarInfo("Volkswagen Golf SportsVan 2015-20"), ], @@ -213,8 +214,8 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { ], CAR.PASSAT_NMS: VWCarInfo("Volkswagen Passat NMS 2017-22"), CAR.POLO_MK6: [ - VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_MQB_A0]), - VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_MQB_A0]), + VWCarInfo("Volkswagen Polo 2018-23", footnotes=[Footnote.VW_MQB_A0]), + VWCarInfo("Volkswagen Polo GTI 2018-23", footnotes=[Footnote.VW_MQB_A0]), ], CAR.SHARAN_MK2: [ VWCarInfo("Volkswagen Sharan 2018-22"), @@ -222,8 +223,11 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { ], CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022"), CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]), - CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2018-23"), - CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2017"), + CAR.TIGUAN_MK2: [ + VWCarInfo("Volkswagen Tiguan 2018-23"), + VWCarInfo("Volkswagen Tiguan eHybrid 2021-23"), + ], + CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2016-23"), CAR.TRANSPORTER_T61: [ VWCarInfo("Volkswagen Caravelle 2020"), VWCarInfo("Volkswagen California 2021"), @@ -239,9 +243,10 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2019-23"), CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"), CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"), + CAR.SKODA_FABIA_MK4: VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]), CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]), CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"), - CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"), + CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2017-23"), CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_MQB_A0]), CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"), CAR.SKODA_OCTAVIA_MK3: [ @@ -288,12 +293,16 @@ FW_VERSIONS = { CAR.ARTEON_MK1: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x873G0906259F \xf1\x890004', + b'\xf1\x873G0906259G \xf1\x890004', + b'\xf1\x873G0906259G \xf1\x890005', + b'\xf1\x873G0906259M \xf1\x890003', b'\xf1\x873G0906259N \xf1\x890004', b'\xf1\x873G0906259P \xf1\x890001', b'\xf1\x875NA907115H \xf1\x890002', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927158L \xf1\x893611', + b'\xf1\x870DL300014C \xf1\x893704', b'\xf1\x870GC300011L \xf1\x891401', b'\xf1\x870GC300014M \xf1\x892802', b'\xf1\x870GC300040P \xf1\x891401', @@ -301,18 +310,23 @@ FW_VERSIONS = { (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121157161111572900', b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900', + b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900', + b'\xf1\x873Q0959655DA\xf1\x890720\xf1\x82\x0e1712141712141105121122052900', b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\0161812141812171105141123052J00', + b'\xf1\x875QF959655AP\xf1\x890755\xf1\x82\x1311110011111311111100110200--1611125F49', ], (Ecu.eps, 0x712, None): [ b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1', b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567B0020800', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800', b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N', + b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002NB4202N7N', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572AA\xf1\x890396', b'\xf1\x872Q0907572T \xf1\x890383', b'\xf1\x875Q0907572J \xf1\x890654', + b'\xf1\x875Q0907572R \xf1\x890771', ], }, CAR.ATLAS_MK1: { @@ -382,6 +396,7 @@ FW_VERSIONS = { b'\xf1\x8704E906016A \xf1\x897697', b'\xf1\x8704E906016AD\xf1\x895758', b'\xf1\x8704E906016CE\xf1\x899096', + b'\xf1\x8704E906016CH\xf1\x899226', b'\xf1\x8704E906023AG\xf1\x891726', b'\xf1\x8704E906023BN\xf1\x894518', b'\xf1\x8704E906024K \xf1\x896811', @@ -392,6 +407,8 @@ FW_VERSIONS = { b'\xf1\x8704L906021DT\xf1\x895520', b'\xf1\x8704L906021DT\xf1\x898127', b'\xf1\x8704L906021N \xf1\x895518', + b'\xf1\x8704L906021N \xf1\x898138', + b'\xf1\x8704L906026BN\xf1\x891197', b'\xf1\x8704L906026BP\xf1\x897608', b'\xf1\x8704L906026NF\xf1\x899528', b'\xf1\x8704L906056CL\xf1\x893823', @@ -428,6 +445,7 @@ FW_VERSIONS = { b'\xf1\x8709G927749AP\xf1\x892943', b'\xf1\x8709S927158A \xf1\x893585', b'\xf1\x870CW300040H \xf1\x890606', + b'\xf1\x870CW300041D \xf1\x891004', b'\xf1\x870CW300041H \xf1\x891010', b'\xf1\x870CW300042F \xf1\x891604', b'\xf1\x870CW300043B \xf1\x891601', @@ -436,7 +454,9 @@ FW_VERSIONS = { b'\xf1\x870CW300044T \xf1\x895245', b'\xf1\x870CW300045 \xf1\x894531', b'\xf1\x870CW300047D \xf1\x895261', + b'\xf1\x870CW300047E \xf1\x895261', b'\xf1\x870CW300048J \xf1\x890611', + b'\xf1\x870CW300049H \xf1\x890905', b'\xf1\x870D9300012 \xf1\x894904', b'\xf1\x870D9300012 \xf1\x894913', b'\xf1\x870D9300012 \xf1\x894937', @@ -467,6 +487,7 @@ FW_VERSIONS = { b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114317121C111C9113', b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114417121411149113', b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120053114317121C111C9113', + b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x13141500111233003142114A2131219333313100', b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100', b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100', @@ -512,6 +533,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0511A00403A0', b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00404A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00504A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00604A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A07A02A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1', @@ -529,6 +551,7 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x875Q0907567G \xf1\x890390\xf1\x82\x0101', b'\xf1\x875Q0907567J \xf1\x890396\xf1\x82\x0101', + b'\xf1\x875Q0907567L \xf1\x890098\xf1\x82\x0101', b'\xf1\x875Q0907572A \xf1\x890141\xf1\x82\x0101', b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\x0101', b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\x0101', @@ -598,6 +621,7 @@ FW_VERSIONS = { b'\xf1\x8704L906026FP\xf1\x892012', b'\xf1\x8704L906026GA\xf1\x892013', b'\xf1\x8704L906026KD\xf1\x894798', + b'\xf1\x873G0906259B \xf1\x890002', b'\xf1\x873G0906264 \xf1\x890004', ], (Ecu.transmission, 0x7e1, None): [ @@ -608,15 +632,23 @@ FW_VERSIONS = { b'\xf1\x870D9300041A \xf1\x894801', b'\xf1\x870DD300045T \xf1\x891601', b'\xf1\x870DL300011H \xf1\x895201', + b'\xf1\x870CW300042H \xf1\x891601', + b'\xf1\x870CW300042H \xf1\x891607', b'\xf1\x870GC300042H \xf1\x891404', + b'\xf1\x870D9300018C \xf1\x895297', + b'\xf1\x870GC300043 \xf1\x892301', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111', b'\xf1\x873Q0959655AF\xf1\x890195\xf1\x82\r56140056130012026612120211', + b'\xf1\x873Q0959655AN\xf1\x890305\xf1\x82\r58160058140013036914110311', b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311', b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111', b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211', + b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e5915005914001305701311052900', + b'\xf1\x873Q0959655BG\xf1\x890712\xf1\x82\x0e5915005914001305701311052900', b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900', + b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e5915005914001354701311542900', b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900', b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011111200631145171716121691132111', ], @@ -626,9 +658,11 @@ FW_VERSIONS = { b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514B0060703', b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803', b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526B0060905', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516B00501A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521B00703A1', + b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563B0000600', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020600', ], (Ecu.fwdRadar, 0x757, None): [ @@ -637,6 +671,7 @@ FW_VERSIONS = { b'\xf1\x873Q0907572B \xf1\x890192', b'\xf1\x873Q0907572C \xf1\x890195', b'\xf1\x873Q0907572C \xf1\x890196', + b'\xf1\x875Q0907572P \xf1\x890682', b'\xf1\x875Q0907572R \xf1\x890771', ], }, @@ -663,17 +698,24 @@ FW_VERSIONS = { CAR.POLO_MK6: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704C906025H \xf1\x895177', + b'\xf1\x8705C906032J \xf1\x891702', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300042D \xf1\x891612', b'\xf1\x870CW300050D \xf1\x891908', + b'\xf1\x870CW300051G \xf1\x891909', ], (Ecu.srs, 0x715, None): [ + b'\xf1\x872Q0959655AG\xf1\x890248\xf1\x82\x1218130411110411--04040404231811152H14', b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1248130411110416--04040404784811152H14', + b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1384830511110516041405820599841215391471', ], (Ecu.eps, 0x712, None): [ b'\xf1\x872Q1909144M \xf1\x896041', + b'\xf1\x872Q2909144AB\xf1\x896050', ], (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', b'\xf1\x872Q0907572R \xf1\x890372', ], }, @@ -735,28 +777,35 @@ FW_VERSIONS = { b'\xf1\x8704L906027G \xf1\x899893', b'\xf1\x875N0906259 \xf1\x890002', b'\xf1\x875NA906259H \xf1\x890002', + b'\xf1\x875NA907115E \xf1\x890003', b'\xf1\x875NA907115E \xf1\x890005', b'\xf1\x8783A907115B \xf1\x890005', b'\xf1\x8783A907115F \xf1\x890002', b'\xf1\x8783A907115G \xf1\x890001', + b'\xf1\x8783A907115K \xf1\x890001', + b'\xf1\x8704E906024AP\xf1\x891461', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927158DT\xf1\x893698', b'\xf1\x8709G927158FM\xf1\x893757', b'\xf1\x8709G927158GC\xf1\x893821', b'\xf1\x8709G927158GD\xf1\x893820', + b'\xf1\x8709G927158GM\xf1\x893936', b'\xf1\x870D9300043 \xf1\x895202', b'\xf1\x870DL300011N \xf1\x892001', b'\xf1\x870DL300011N \xf1\x892012', + b'\xf1\x870DL300012M \xf1\x892107', b'\xf1\x870DL300012P \xf1\x892103', b'\xf1\x870DL300013A \xf1\x893005', b'\xf1\x870DL300013G \xf1\x892119', b'\xf1\x870DL300013G \xf1\x892120', b'\xf1\x870DL300014C \xf1\x893703', + b'\xf1\x870DD300046K \xf1\x892302', ], (Ecu.srs, 0x715, None): [ b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\02331310031333334313132573732379333313100', b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100', + b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100', b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100', @@ -764,9 +813,11 @@ FW_VERSIONS = { b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140573752379333423100', b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100', b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x1331310031333300314240024050409333613100', + b'\xf1\x875Q0959655CD\xf1\x890421\xf1\x82\x13123112313333003145406F6154619333613100', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6050705', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600', b'\xf1\x875QF909144A \xf1\x895581\xf1\x82\x0571A60834A1', @@ -775,6 +826,8 @@ FW_VERSIONS = { b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60604A1', b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1', b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1', + b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572AA\xf1\x890396', @@ -788,34 +841,45 @@ FW_VERSIONS = { CAR.TOURAN_MK2: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704L906026HM\xf1\x893017', + b'\xf1\x8705E906018CQ\xf1\x890808', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300041E \xf1\x891005', + b'\xf1\x870CW300051M \xf1\x891926', ], (Ecu.srs, 0x715, None): [ b'\xf1\x875Q0959655AS\xf1\x890318\xf1\x82\023363500213533353141324C4732479333313100', + b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1336350021353336314740025250529333613100', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820531B0062105', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A8090400', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x873Q0907572C \xf1\x890195', + b'\xf1\x872Q0907572AA\xf1\x890396', ], }, CAR.TRANSPORTER_T61: { (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704L906056AG\xf1\x899970', + b'\xf1\x8704L906056AL\xf1\x899970', b'\xf1\x8704L906057AP\xf1\x891186', b'\xf1\x8704L906057N \xf1\x890413', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870BT300012G \xf1\x893102', b'\xf1\x870BT300012E \xf1\x893105', + b'\xf1\x870BT300046R \xf1\x893102', ], (Ecu.srs, 0x715, None): [ - b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\02316170411110411--04041704161611152S1411', + b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704161611152S1411', + b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704171711152S1411', b'\xf1\x872Q0959655AF\xf1\x890506\xf1\x82\x1316171111110411--04041711121211152S1413', ], (Ecu.eps, 0x712, None): [ + b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x0532380518A2', + b'\xf1\x877LA909144G \xf1\x897160\xf1\x82\x05333A5519A2', b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\005323A5519A2', ], (Ecu.fwdRadar, 0x757, None): [ @@ -827,9 +891,11 @@ FW_VERSIONS = { b'\xf1\x8705E906018AT\xf1\x899640', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300050J \xf1\x891911', b'\xf1\x870CW300051M \xf1\x891925', ], (Ecu.srs, 0x715, None): [ + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1311110012333300314240681152119333463100', b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x13111100123333003142404M1152119333613100', ], (Ecu.eps, 0x712, None): [ @@ -856,6 +922,7 @@ FW_VERSIONS = { b'\xf1\x878V0906264B \xf1\x890003', b'\xf1\x878V0907115B \xf1\x890007', b'\xf1\x878V0907404A \xf1\x890005', + b'\xf1\x875G0906259D \xf1\x890002', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300044T \xf1\x895245', @@ -863,6 +930,7 @@ FW_VERSIONS = { b'\xf1\x870D9300012 \xf1\x894912', b'\xf1\x870D9300012 \xf1\x894931', b'\xf1\x870D9300012K \xf1\x894513', + b'\xf1\x870D9300013B \xf1\x894902', b'\xf1\x870D9300013B \xf1\x894931', b'\xf1\x870D9300041N \xf1\x894512', b'\xf1\x870D9300043T \xf1\x899699', @@ -900,11 +968,13 @@ FW_VERSIONS = { b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00803A0', b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0503G0G803A0', b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\00516G00804A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516G00804A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521G00807A1', ], (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x875Q0907567N \xf1\x890400\xf1\x82\00101', - b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\00101', + b'\xf1\x875Q0907567N \xf1\x890400\xf1\x82\x0101', + b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101', + b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101', b'\xf1\x875Q0907572G \xf1\x890571', b'\xf1\x875Q0907572H \xf1\x890620', b'\xf1\x875Q0907572P \xf1\x890682', @@ -933,14 +1003,17 @@ FW_VERSIONS = { b'\xf1\x8705L906022M \xf1\x890901', b'\xf1\x8783A906259 \xf1\x890001', b'\xf1\x8783A906259 \xf1\x890005', + b'\xf1\x8783A906259F \xf1\x890001', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927158CN\xf1\x893608', + b'\xf1\x8709G927158GP\xf1\x893937', b'\xf1\x870GC300045D \xf1\x892802', b'\xf1\x870GC300046F \xf1\x892701', ], (Ecu.srs, 0x715, None): [ b'\xf1\x875Q0959655BF\xf1\x890403\xf1\x82\x1321211111211200311121232152219321422111', + b'\xf1\x875Q0959655BQ\xf1\x890421\xf1\x82\x132121111121120031112124218C219321532111', b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111224118A119321532111', b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111237116A119321532111', ], @@ -948,8 +1021,10 @@ FW_VERSIONS = { b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000300', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000800', b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60533A1', + b'\xf1\x875TA907145D \xf1\x891051\xf1\x82\x001PG60A1P7N', ], (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', b'\xf1\x872Q0907572R \xf1\x890372', b'\xf1\x872Q0907572T \xf1\x890383', ], @@ -1006,6 +1081,23 @@ FW_VERSIONS = { b'\xf1\x875Q0907572P \xf1\x890682', ], }, + CAR.SKODA_FABIA_MK4: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8705E906018CF\xf1\x891905', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300051M \xf1\x891936', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100110200--1111120749', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x872Q1909144S \xf1\x896042', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + ], + }, CAR.SKODA_KAMIQ_MK1: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8705C906032M \xf1\x891333', @@ -1049,27 +1141,44 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704E906027DD\xf1\x893123', b'\xf1\x8704L906026DE\xf1\x895418', + b'\xf1\x8704L906026EJ\xf1\x893661', + b'\xf1\x8704L906026HT\xf1\x893617', + b'\xf1\x8783A907115E \xf1\x890001', + b'\xf1\x8705E906018DJ\xf1\x890915', + b'\xf1\x8705E906018DJ\xf1\x891903', b'\xf1\x875NA907115E \xf1\x890003', + b'\xf1\x875NA907115E \xf1\x890005', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870D9300043 \xf1\x895202', + b'\xf1\x870DL300011N \xf1\x892014', b'\xf1\x870DL300012M \xf1\x892107', b'\xf1\x870DL300012N \xf1\x892110', b'\xf1\x870DL300013G \xf1\x892119', + b'\xf1\x870GC300014N \xf1\x892801', + b'\xf1\x870GC300046Q \xf1\x892802', ], (Ecu.srs, 0x715, None): [ - b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\0161213001211001205212111052100', - b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\0161213001211001205212112052100', + b'\xf1\x873Q0959655AP\xf1\x890306\xf1\x82\r11110011110011421111314211', + b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e1213001211001205212111052100', + b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1213001211001244212111442100', + b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100', b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111', + b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405', b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6060405', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G500', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572Q \xf1\x890342', b'\xf1\x872Q0907572R \xf1\x890372', + b'\xf1\x872Q0907572T \xf1\x890383', + b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572AB\xf1\x890397', ], }, CAR.SKODA_OCTAVIA_MK3: { @@ -1139,14 +1248,21 @@ FW_VERSIONS = { b'\xf1\x8704L906026FP\xf1\x891196', b'\xf1\x8704L906026KB\xf1\x894071', b'\xf1\x8704L906026KD\xf1\x894798', + b'\xf1\x8704L906026MT\xf1\x893076', + b'\xf1\x873G0906259 \xf1\x890004', b'\xf1\x873G0906259B \xf1\x890002', + b'\xf1\x873G0906259L \xf1\x890003', b'\xf1\x873G0906264A \xf1\x890002', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300042H \xf1\x891601', b'\xf1\x870D9300011T \xf1\x894801', b'\xf1\x870D9300012 \xf1\x894940', + b'\xf1\x870D9300013A \xf1\x894905', b'\xf1\x870D9300041H \xf1\x894905', + b'\xf1\x870D9300043F \xf1\x895202', + b'\xf1\x870GC300014M \xf1\x892801', + b'\xf1\x870GC300019G \xf1\x892803', b'\xf1\x870GC300043 \xf1\x892301', ], (Ecu.srs, 0x715, None): [ @@ -1154,6 +1270,9 @@ FW_VERSIONS = { b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\022111200111121001121118112231292221111', b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111', b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100', + b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100', + b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100', + b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203', @@ -1161,11 +1280,14 @@ FW_VERSIONS = { b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700', b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070700', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x873Q0907572B \xf1\x890192', b'\xf1\x873Q0907572B \xf1\x890194', b'\xf1\x873Q0907572C \xf1\x890195', + b'\xf1\x875Q0907572R \xf1\x890771', + b'\xf1\x875Q0907572S \xf1\x890780', ], }, } diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 2c359ec32a..a584a44cb9 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -26,9 +26,7 @@ from selfdrive.controls.lib.latcontrol_torque import LatControlTorque from selfdrive.controls.lib.events import Events, ET from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert from selfdrive.controls.lib.vehicle_model import VehicleModel -from selfdrive.locationd.calibrationd import Calibration from system.hardware import HARDWARE -from selfdrive.manager.process_config import managed_processes SOFT_DISABLE_TIME = 3 # seconds LDW_MIN_SPEED = 31 * CV.MPH_TO_MS @@ -37,9 +35,7 @@ LANE_DEPARTURE_THRESHOLD = 0.1 REPLAY = "REPLAY" in os.environ SIMULATION = "SIMULATION" in os.environ NOSENSOR = "NOSENSOR" in os.environ -IGNORE_PROCESSES = {"uploader", "deleter", "loggerd", "logmessaged", "tombstoned", "statsd", - "logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad"} | \ - {k for k, v in managed_processes.items() if not v.enabled} +IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"} ThermalStatus = log.DeviceState.ThermalStatus State = log.ControlsState.OpenpilotState @@ -91,7 +87,7 @@ class Controls: self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets, - ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan', 'testJoystick']) + ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick']) if CI is None: # wait for one pandaState and one CAN packet @@ -112,9 +108,6 @@ class Controls: if not self.disengage_on_accelerator: self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS - if self.CP.dashcamOnly and self.params.get_bool("DashcamOverride"): - self.CP.dashcamOnly = False - # read params self.is_metric = self.params.get_bool("IsMetric") self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled") @@ -185,6 +178,7 @@ class Controls: self.desired_curvature_rate = 0.0 self.experimental_mode = False self.v_cruise_helper = VCruiseHelper(self.CP) + self.recalibrating_seen = False # TODO: no longer necessary, aside from process replay self.sm['liveParameters'].valid = True @@ -280,17 +274,23 @@ class Controls: # Alert if fan isn't spinning for 5 seconds if self.sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown: - if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50: - if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0: + if self.sm['peripheralState'].fanSpeedRpm < 500 and self.sm['deviceState'].fanSpeedPercentDesired > 50: + # allow enough time for the fan controller in the panda to recover from stalls + if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 15.0: self.events.add(EventName.fanMalfunction) else: self.last_functional_fan_frame = self.sm.frame # Handle calibration status cal_status = self.sm['liveCalibration'].calStatus - if cal_status != Calibration.CALIBRATED: - if cal_status == Calibration.UNCALIBRATED: + if cal_status != log.LiveCalibrationData.Status.calibrated: + if cal_status == log.LiveCalibrationData.Status.uncalibrated: self.events.add(EventName.calibrationIncomplete) + elif cal_status == log.LiveCalibrationData.Status.recalibrating: + if not self.recalibrating_seen: + set_offroad_alert("Offroad_Recalibration", True) + self.recalibrating_seen = True + self.events.add(EventName.calibrationRecalibrating) else: self.events.add(EventName.calibrationInvalid) @@ -338,9 +338,9 @@ class Controls: self.events.add(EventName.cameraMalfunction) elif not self.sm.all_freq_ok(self.camera_packets): self.events.add(EventName.cameraFrameRate) - if self.rk.lagging: + if not REPLAY and self.rk.lagging: self.events.add(EventName.controlsdLagging) - if len(self.sm['radarState'].radarErrors) or not self.sm.all_checks(['radarState']): + if len(self.sm['radarState'].radarErrors) or (not self.rk.lagging and not self.sm.all_checks(['radarState'])): self.events.add(EventName.radarFault) if not self.sm.valid['pandaStates']: self.events.add(EventName.usbError) @@ -413,7 +413,7 @@ class Controls: # TODO: fix simulator if not SIMULATION: if not NOSENSOR: - if not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000): + if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000): # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes self.events.add(EventName.noGps) @@ -702,15 +702,15 @@ class Controls: recent_blinker = (self.sm.frame - self.last_blinker_frame) * DT_CTRL < 5.0 # 5s blinker cooldown ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \ - and not CC.latActive and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED + and not CC.latActive and self.sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.calibrated model_v2 = self.sm['modelV2'] desire_prediction = model_v2.meta.desirePrediction if len(desire_prediction) and ldw_allowed: right_lane_visible = model_v2.laneLineProbs[2] > 0.5 left_lane_visible = model_v2.laneLineProbs[1] > 0.5 - l_lane_change_prob = desire_prediction[Desire.laneChangeLeft - 1] - r_lane_change_prob = desire_prediction[Desire.laneChangeRight - 1] + l_lane_change_prob = desire_prediction[Desire.laneChangeLeft] + r_lane_change_prob = desire_prediction[Desire.laneChangeRight] lane_lines = model_v2.laneLines l_lane_close = left_lane_visible and (lane_lines[1].y[0] > -(1.08 + CAMERA_OFFSET)) diff --git a/selfdrive/controls/lib/alerts_offroad.json b/selfdrive/controls/lib/alerts_offroad.json index 2f85ea917a..9226c94d85 100644 --- a/selfdrive/controls/lib/alerts_offroad.json +++ b/selfdrive/controls/lib/alerts_offroad.json @@ -30,7 +30,7 @@ "severity": 0 }, "Offroad_UnofficialHardware": { - "text": "Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, contact support@comma.ai.", + "text": "Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.", "severity": 1 }, "Offroad_StorageMissing": { @@ -48,5 +48,9 @@ "Offroad_NoFirmware": { "text": "openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.", "severity": 0 + }, + "Offroad_Recalibration": { + "text": "openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.", + "severity": 0 } } diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index a332d06765..7cbcbc3d49 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -1,6 +1,6 @@ import math -from cereal import car +from cereal import car, log from common.conversions import Conversions as CV from common.numpy_fast import clip, interp from common.realtime import DT_MDL @@ -17,14 +17,14 @@ V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 105 IMPERIAL_INCREMENT = 1.6 # should be CV.MPH_TO_KPH, but this causes rounding errors MIN_SPEED = 1.0 -LAT_MPC_N = 16 -LON_MPC_N = 32 CONTROL_N = 17 CAR_ROTATION_RADIUS = 0.0 # EU guidelines MAX_LATERAL_JERK = 5.0 +MAX_VEL_ERR = 5.0 + ButtonEvent = car.CarState.ButtonEvent ButtonType = car.CarState.ButtonEvent.Type CRUISE_LONG_PRESS = 50 @@ -192,3 +192,21 @@ 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 + + +def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float: + # ToDo: Try relative error, and absolute speed + if len(modelV2.temporalPose.trans): + vel_err = clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR) + return float(vel_err) + return 0.0 diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index a85e48649f..b935e24615 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -242,8 +242,9 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + first_word = 'Recalibration' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibration' return Alert( - "Calibration in Progress: %d%%" % sm['liveCalibration'].calPerc, + f"{first_word} in Progress: {sm['liveCalibration'].calPerc:.0f}%", f"Drive Above {get_display_speed(MIN_SPEED_FILTER, metric)}", AlertStatus.normal, AlertSize.mid, Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2) @@ -292,7 +293,7 @@ def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging rpy = sm['liveCalibration'].rpyCalib yaw = math.degrees(rpy[2] if len(rpy) == 3 else math.nan) pitch = math.degrees(rpy[1] if len(rpy) == 3 else math.nan) - angles = f"Pitch: {pitch:.1f}°, Yaw: {yaw:.1f}°" + angles = f"Remount Device (Pitch: {pitch:.1f}°, Yaw: {yaw:.1f}°)" return NormalPermanentAlert("Calibration Invalid", angles) @@ -317,9 +318,9 @@ def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: - text = "Cruise Mode Disabled" + text = "Enable Adaptive Cruise to Engage" if CP.carName == "honda": - text = "Main Switch Off" + text = "Enable Main Switch to Engage" return NoEntryAlert(text) @@ -358,6 +359,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { # Car is recognized, but marked as dashcam only EventName.startupNoControl: { ET.PERMANENT: StartupAlert("Dashcam mode"), + ET.NO_ENTRY: NoEntryAlert("Dashcam mode"), }, # Car is not recognized @@ -658,6 +660,11 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.NO_ENTRY: NoEntryAlert("Steering Temporarily Unavailable"), }, + EventName.steerTimeLimit: { + ET.SOFT_DISABLE: soft_disable_alert("Vehicle Steering Time Limit"), + ET.NO_ENTRY: NoEntryAlert("Vehicle Steering Time Limit"), + }, + EventName.outOfSpace: { ET.PERMANENT: out_of_space_alert, ET.NO_ENTRY: NoEntryAlert("Out of Storage"), @@ -714,9 +721,15 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { EventName.calibrationIncomplete: { ET.PERMANENT: calibration_incomplete_alert, - ET.SOFT_DISABLE: soft_disable_alert("Calibration in Progress"), + ET.SOFT_DISABLE: soft_disable_alert("Calibration Incomplete"), ET.NO_ENTRY: NoEntryAlert("Calibration in Progress"), }, + + EventName.calibrationRecalibrating: { + ET.PERMANENT: calibration_incomplete_alert, + ET.SOFT_DISABLE: soft_disable_alert("Device Remount Detected: Recalibrating"), + ET.NO_ENTRY: NoEntryAlert("Remount Detected: Recalibrating"), + }, EventName.doorOpen: { ET.SOFT_DISABLE: user_soft_disable_alert("Door Open"), @@ -811,10 +824,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"), }, - EventName.accFaultedTemp: { - ET.NO_ENTRY: NoEntryAlert("Cruise Temporarily Faulted"), - }, - EventName.controlsMismatch: { ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"), ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"), @@ -944,4 +953,10 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.NO_ENTRY: NoEntryAlert("LKAS Disabled"), }, + EventName.vehicleSensorsInvalid: { + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Vehicle Sensors Invalid"), + ET.PERMANENT: NormalPermanentAlert("Vehicle Sensors Calibrating", "Drive to Calibrate"), + ET.NO_ENTRY: NoEntryAlert("Vehicle Sensors Calibrating"), + }, + } diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 9129693e5a..6550b19227 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -61,13 +61,15 @@ 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, - lateral_accel_deadzone, CS.vEgo, friction_compensation=False) + 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, CS.vEgo, friction_compensation=True) + lateral_accel_deadzone, friction_compensation=True) freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5 output_torque = self.pid.update(pid_log.error, diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript index 868b5a873c..745ed99d10 100644 --- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript +++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript @@ -47,6 +47,7 @@ acados_dir = '#third_party/acados' acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera' source_list = ['lat_mpc.py', + '#/selfdrive/modeld/constants.py', f'{acados_dir}/include/acados_c/ocp_nlp_interface.h', f'{acados_dir}/x86_64/lib/libacados.so', f'{acados_dir}/larch64/lib/libacados.so', diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py index 536f436fce..ca7b991e69 100755 --- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py +++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py @@ -3,8 +3,8 @@ import os import numpy as np from casadi import SX, vertcat, sin, cos - from common.realtime import sec_since_boot +# WARNING: imports outside of constants will not trigger a rebuild from selfdrive.modeld.constants import T_IDXS if __name__ == '__main__': # generating code @@ -17,12 +17,12 @@ EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code") JSON_FILE = os.path.join(LAT_MPC_DIR, "acados_ocp_lat.json") X_DIM = 4 P_DIM = 2 -N = 16 COST_E_DIM = 3 COST_DIM = COST_E_DIM + 2 SPEED_OFFSET = 10.0 MODEL_NAME = 'lat' ACADOS_SOLVER_TYPE = 'SQP_RTI' +N = 32 def gen_lat_model(): model = AcadosModel() @@ -168,14 +168,14 @@ class LateralMpc(): self.solver.constraints_set(0, "lbx", x0_cp) self.solver.constraints_set(0, "ubx", x0_cp) self.yref[:,0] = y_pts - v_ego = p_cp[0] + v_ego = p_cp[0, 0] # rotation_radius = p_cp[1] self.yref[:,1] = heading_pts * (v_ego + SPEED_OFFSET) self.yref[:,2] = yaw_rate_pts * (v_ego + SPEED_OFFSET) for i in range(N): self.solver.cost_set(i, "yref", self.yref[i]) - self.solver.set(i, "p", p_cp) - self.solver.set(N, "p", p_cp) + self.solver.set(i, "p", p_cp[i]) + self.solver.set(N, "p", p_cp[N]) self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM]) t = sec_since_boot() diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 932ad49535..fc29aeb087 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -4,7 +4,7 @@ from common.numpy_fast import interp from system.swaglog import cloudlog from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N -from selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED +from selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, get_speed_error from selfdrive.controls.lib.desire_helper import DesireHelper import cereal.messaging as messaging from cereal import log @@ -16,12 +16,12 @@ CAMERA_OFFSET = 0.04 PATH_COST = 1.0 LATERAL_MOTION_COST = 0.11 LATERAL_ACCEL_COST = 0.0 -LATERAL_JERK_COST = 0.05 +LATERAL_JERK_COST = 0.04 # Extreme steering rate is unpleasant, even # when it does not cause bad jerk. # TODO this cost should be lowered when low # speed lateral control is stable on all cars -STEERING_RATE_COST = 800.0 +STEERING_RATE_COST = 700.0 class LateralPlanner: @@ -35,10 +35,15 @@ class LateralPlanner: self.solution_invalid_cnt = 0 self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3)) + self.velocity_xyz = np.zeros((TRAJECTORY_SIZE, 3)) self.plan_yaw = np.zeros((TRAJECTORY_SIZE,)) self.plan_yaw_rate = np.zeros((TRAJECTORY_SIZE,)) self.t_idxs = np.arange(TRAJECTORY_SIZE) - self.y_pts = np.zeros(TRAJECTORY_SIZE) + self.y_pts = np.zeros((TRAJECTORY_SIZE,)) + self.v_plan = np.zeros((TRAJECTORY_SIZE,)) + self.v_ego = 0.0 + self.l_lane_change_prob = 0.0 + self.r_lane_change_prob = 0.0 self.lat_mpc = LateralMpc() self.reset_mpc(np.zeros(4)) @@ -49,8 +54,8 @@ class LateralPlanner: def update(self, sm): # clip speed , lateral planning is not possible at 0 speed - self.v_ego = max(MIN_SPEED, sm['carState'].vEgo) measured_curvature = sm['controlsState'].curvature + v_ego_car = sm['carState'].vEgo # Parse model predictions md = sm['modelV2'] @@ -59,6 +64,10 @@ class LateralPlanner: self.t_idxs = np.array(md.position.t) self.plan_yaw = np.array(md.orientation.z) self.plan_yaw_rate = np.array(md.orientationRate.z) + self.velocity_xyz = np.column_stack([md.velocity.x, md.velocity.y, md.velocity.z]) + car_speed = np.linalg.norm(self.velocity_xyz, axis=1) - get_speed_error(md, v_ego_car) + self.v_plan = np.clip(car_speed, MIN_SPEED, np.inf) + self.v_ego = self.v_plan[0] # Lane change logic desire_state = md.meta.desireState @@ -68,21 +77,20 @@ class LateralPlanner: lane_change_prob = self.l_lane_change_prob + self.r_lane_change_prob self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob) - d_path_xyz = self.path_xyz self.lat_mpc.set_weights(PATH_COST, LATERAL_MOTION_COST, LATERAL_ACCEL_COST, LATERAL_JERK_COST, STEERING_RATE_COST) - y_pts = np.interp(self.v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1]) - heading_pts = np.interp(self.v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw) - yaw_rate_pts = np.interp(self.v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw_rate) + y_pts = self.path_xyz[:LAT_MPC_N+1, 1] + heading_pts = self.plan_yaw[:LAT_MPC_N+1] + yaw_rate_pts = self.plan_yaw_rate[:LAT_MPC_N+1] self.y_pts = y_pts assert len(y_pts) == LAT_MPC_N + 1 assert len(heading_pts) == LAT_MPC_N + 1 assert len(yaw_rate_pts) == LAT_MPC_N + 1 - lateral_factor = max(0, self.factor1 - (self.factor2 * self.v_ego**2)) - p = np.array([self.v_ego, lateral_factor]) + lateral_factor = np.clip(self.factor1 - (self.factor2 * self.v_plan**2), 0.0, np.inf) + p = np.column_stack([self.v_plan, lateral_factor]) self.lat_mpc.run(self.x0, p, y_pts, diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript index e5b2360607..7f5daf157c 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript @@ -54,6 +54,7 @@ acados_dir = '#third_party/acados' acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera' source_list = ['long_mpc.py', + '#/selfdrive/modeld/constants.py', f'{acados_dir}/include/acados_c/ocp_nlp_interface.h', f'{acados_dir}/x86_64/lib/libacados.so', f'{acados_dir}/larch64/lib/libacados.so', diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index c017951232..660002691a 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -5,6 +5,7 @@ import numpy as np from common.realtime import sec_since_boot from common.numpy_fast import clip from system.swaglog import cloudlog +# WARNING: imports outside of constants will not trigger a rebuild from selfdrive.modeld.constants import index_function from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 0febfbafd9..3089499687 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -11,7 +11,7 @@ from selfdrive.modeld.constants import T_IDXS from selfdrive.controls.lib.longcontrol import LongCtrlState from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, MIN_ACCEL, MAX_ACCEL from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC -from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N +from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error from system.swaglog import cloudlog LON_MPC_STEP = 0.2 # first step is 0.2s @@ -106,8 +106,7 @@ class LongitudinalPlanner: # Prevent divergence, smooth in current v_ego self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego)) # Compute model v_ego error - if len(sm['modelV2'].temporalPose.trans): - self.v_model_error = sm['modelV2'].temporalPose.trans[0] - v_ego + self.v_model_error = get_speed_error(sm['modelV2'], v_ego) if force_slow_decel: v_cruise = 0.0 @@ -121,8 +120,10 @@ class LongitudinalPlanner: x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error) self.mpc.update(sm['radarState'], v_cruise, x, v, a, j) - self.v_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.v_solution) - self.a_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.a_solution) + self.v_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.v_solution) + self.a_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.a_solution) + self.v_desired_trajectory = self.v_desired_trajectory_full[:CONTROL_N] + self.a_desired_trajectory = self.a_desired_trajectory_full[:CONTROL_N] self.j_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution) # TODO counter is only needed because radar is glitchy, remove once radar is gone diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 93d0c80dac..14934254af 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -1,12 +1,30 @@ #!/usr/bin/env python3 +import numpy as np from cereal import car from common.params import Params from common.realtime import Priority, config_realtime_process from system.swaglog import cloudlog +from selfdrive.modeld.constants import T_IDXS from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner from selfdrive.controls.lib.lateral_planner import LateralPlanner import cereal.messaging as messaging +def cumtrapz(x, t): + return np.concatenate([[0], np.cumsum(((x[0:-1] + x[1:])/2) * np.diff(t))]) + +def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner): + plan_odo = cumtrapz(longitudinal_planner.v_desired_trajectory_full, T_IDXS) + model_odo = cumtrapz(lateral_planner.v_plan, T_IDXS) + + ui_send = messaging.new_message('uiPlan') + ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2']) + uiPlan = ui_send.uiPlan + uiPlan.frameId = sm['modelV2'].frameId + uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist() + uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist() + uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist() + uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist() + pm.send('uiPlan', ui_send) def plannerd_thread(sm=None, pm=None): config_realtime_process(5, Priority.CTRL_LOW) @@ -24,7 +42,7 @@ def plannerd_thread(sm=None, pm=None): poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState']) if pm is None: - pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan']) + pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan', 'uiPlan']) while True: sm.update() @@ -34,7 +52,7 @@ def plannerd_thread(sm=None, pm=None): lateral_planner.publish(sm, pm) longitudinal_planner.update(sm) longitudinal_planner.publish(sm, pm) - + publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner) def main(sm=None, pm=None): plannerd_thread(sm, pm) diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py index 9ed7eee122..60c080163f 100755 --- a/selfdrive/controls/tests/test_alerts.py +++ b/selfdrive/controls/tests/test_alerts.py @@ -6,11 +6,12 @@ import random from PIL import Image, ImageDraw, ImageFont from cereal import log, car +from cereal.messaging import SubMaster from common.basedir import BASEDIR from common.params import Params from selfdrive.controls.lib.events import Alert, EVENTS, ET from selfdrive.controls.lib.alertmanager import set_offroad_alert -from selfdrive.test.process_replay.process_replay import FakeSubMaster, CONFIGS +from selfdrive.test.process_replay.process_replay import CONFIGS AlertSize = log.ControlsState.AlertSize @@ -34,7 +35,7 @@ class TestAlerts(unittest.TestCase): cls.CS = car.CarState.new_message() cls.CP = car.CarParams.new_message() cfg = [c for c in CONFIGS if c.proc_name == 'controlsd'][0] - cls.sm = FakeSubMaster(cfg.pub_sub.keys()) + cls.sm = SubMaster(cfg.pubs) def test_events_defined(self): # Ensure all events in capnp schema are defined in events.py diff --git a/selfdrive/controls/tests/test_lateral_mpc.py b/selfdrive/controls/tests/test_lateral_mpc.py index df5154b2b4..b569da09b4 100644 --- a/selfdrive/controls/tests/test_lateral_mpc.py +++ b/selfdrive/controls/tests/test_lateral_mpc.py @@ -17,7 +17,8 @@ def run_mpc(lat_mpc=None, v_ref=30., x_init=0., y_init=0., psi_init=0., curvatur curv_rate_pts = np.zeros(LAT_MPC_N + 1) x0 = np.array([x_init, y_init, psi_init, curvature_init]) - p = np.array([v_ref, CAR_ROTATION_RADIUS]) + p = np.column_stack([v_ref * np.ones(LAT_MPC_N + 1), + CAR_ROTATION_RADIUS * np.ones(LAT_MPC_N + 1)]) # converge in no more than 10 iterations for _ in range(10): diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py index 92fc2468bb..18c8e79026 100755 --- a/selfdrive/controls/tests/test_startup.py +++ b/selfdrive/controls/tests/test_startup.py @@ -72,7 +72,6 @@ class TestStartup(unittest.TestCase): params.clear_all() params.put_bool("Passive", False) params.put_bool("OpenpilotEnabledToggle", True) - params.put_bool("ObdMultiplexingDisabled", True) # Build capnn version of FW array if fw_versions is not None: @@ -109,6 +108,10 @@ class TestStartup(unittest.TestCase): finger = _FINGERPRINTS[car_model][0] for _ in range(1000): + # controlsd waits for boardd to echo back that it has changed the multiplexing mode + if not params.get_bool("ObdMultiplexingChanged"): + params.put_bool("ObdMultiplexingChanged", True) + msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()] pm.send('can', can_list_to_can_capnp(msgs)) diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py index 93dd5bdc47..42b671e5e3 100755 --- a/selfdrive/debug/count_events.py +++ b/selfdrive/debug/count_events.py @@ -5,7 +5,7 @@ import datetime from collections import Counter from pprint import pprint from tqdm import tqdm -from typing import cast +from typing import List, Tuple, cast from cereal.services import service_list from tools.lib.route import Route @@ -20,6 +20,7 @@ if __name__ == "__main__": cams = [s for s in service_list if s.endswith('CameraState')] cnt_cameras = dict.fromkeys(cams, 0) + alerts: List[Tuple[float, str]] = [] start_time = math.inf end_time = -math.inf for q in tqdm(r.qlog_paths()): @@ -27,18 +28,22 @@ if __name__ == "__main__": continue lr = list(LogReader(q)) for msg in lr: + end_time = max(end_time, msg.logMonoTime) + start_time = min(start_time, msg.logMonoTime) + if msg.which() == 'carEvents': for e in msg.carEvents: cnt_events[e.name] += 1 + elif msg.which() == 'controlsState': + if len(alerts) == 0 or alerts[-1][1] != msg.controlsState.alertType: + t = (msg.logMonoTime - start_time) / 1e9 + alerts.append((t, msg.controlsState.alertType)) elif msg.which() in cams: cnt_cameras[msg.which()] += 1 if not msg.valid: cnt_valid[msg.which()] += 1 - end_time = max(end_time, msg.logMonoTime) - start_time = min(start_time, msg.logMonoTime) - duration = (end_time - start_time) / 1e9 print("Events") @@ -55,5 +60,10 @@ if __name__ == "__main__": expected_frames = int(s.frequency * duration / cast(float, s.decimation)) print(" ", k.ljust(20), f"{v}, {v/expected_frames:.1%} of expected") + print("\n") + print("Alerts") + for t, a in alerts: + print(f"{t:8.2f} {a}") + print("\n") print("Route duration", datetime.timedelta(seconds=duration)) diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py index 07ce5ebddb..3a0ff33cb6 100755 --- a/selfdrive/debug/hyundai_enable_radar_points.py +++ b/selfdrive/debug/hyundai_enable_radar_points.py @@ -32,6 +32,9 @@ SUPPORTED_FW_VERSIONS = { b"DN8_ SCC FHCUP 1.00 1.00 99110-L0000\x19\x08)\x15T ": ConfigValues( default_config=b"\x00\x00\x00\x01\x00\x00", tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), + b"DN8_ SCC F-CUP 1.00 1.00 99110-L0000\x19\x08)\x15T ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), # 2021 SONATA HYBRID b"DNhe SCC FHCUP 1.00 1.02 99110-L5000 \x01#\x15# ": ConfigValues( default_config=b"\x00\x00\x00\x01\x00\x00", diff --git a/selfdrive/debug/internal/check_frame_frequencies.py b/selfdrive/debug/internal/check_frame_frequencies.py new file mode 100755 index 0000000000..9ac8bfc80e --- /dev/null +++ b/selfdrive/debug/internal/check_frame_frequencies.py @@ -0,0 +1,43 @@ +#!/usr/bin/env python3 + +import time +import statistics +import cereal.messaging as messaging + +from typing import Dict + +camera_states = [ + 'roadCameraState', + 'wideRoadCameraState', + 'driverCameraState' +] + +def fmt(val): + ref = 0.05 + return f"{val:.6f} ({100 * val / ref:.2f}%)" + +if __name__ == "__main__": + sm = messaging.SubMaster(camera_states) + + prev_sof = {state: None for state in camera_states} + diffs: Dict[str, list] = {state: [] for state in camera_states} + + st = time.monotonic() + while True: + sm.update() + + for state in camera_states: + if sm.updated[state]: + if prev_sof[state] is not None: + diffs[state].append((sm[state].timestampSof - prev_sof[state]) / 1e9) + prev_sof[state] = sm[state].timestampSof + + if time.monotonic() - st > 10: + for state in camera_states: + values = diffs[state] + ref = 0.05 + print(f"{state} \tMean: {fmt(statistics.mean(values))} \t Min: {fmt(min(values))} \t Max: {fmt(max(values))} \t Std: {statistics.stdev(values):.6f} \t Num frames: {len(values)}") + diffs[state] = [] + + print() + st = time.monotonic() diff --git a/selfdrive/debug/profiling/watch-irqs.sh b/selfdrive/debug/profiling/watch-irqs.sh new file mode 100755 index 0000000000..34cc4596f4 --- /dev/null +++ b/selfdrive/debug/profiling/watch-irqs.sh @@ -0,0 +1,4 @@ +#!/usr/bin/bash +set -e + +RUBYOPT="-W0" irqtop -d1 -R diff --git a/selfdrive/debug/test_car_model.py b/selfdrive/debug/test_car_model.py index 4de5b26762..c2f51c9355 100755 --- a/selfdrive/debug/test_car_model.py +++ b/selfdrive/debug/test_car_model.py @@ -6,6 +6,7 @@ import unittest from selfdrive.car.tests.routes import CarTestRoute from selfdrive.car.tests.test_models import TestCarModel +from tools.lib.route import SegmentName def create_test_models_suite(routes: List[Tuple[str, CarTestRoute]], ci=False) -> unittest.TestSuite: @@ -21,16 +22,17 @@ def create_test_models_suite(routes: List[Tuple[str, CarTestRoute]], ci=False) - if __name__ == "__main__": parser = argparse.ArgumentParser(description="Test any route against common issues with a new car port. " + "Uses selfdrive/car/tests/test_models.py") - parser.add_argument("route", help="Specify route to run tests on") + parser.add_argument("route_or_segment_name", help="Specify route to run tests on") parser.add_argument("--car", help="Specify car model for test route") - parser.add_argument("--segment", type=int, nargs="?", help="Specify segment of route to test") parser.add_argument("--ci", action="store_true", help="Attempt to get logs using openpilotci, need to specify car") args = parser.parse_args() if len(sys.argv) == 1: parser.print_help() sys.exit() - test_route = CarTestRoute(args.route, args.car, segment=args.segment) + route_or_segment_name = SegmentName(args.route_or_segment_name.strip(), allow_route_name=True) + segment_num = route_or_segment_name.segment_num if route_or_segment_name.segment_num != -1 else None + test_route = CarTestRoute(route_or_segment_name.route_name.canonical_name, args.car, segment=segment_num) test_suite = create_test_models_suite([(args.car, test_route)], ci=args.ci) unittest.TextTestRunner().run(test_suite) diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index ba7d96dba0..0bb9aa5e54 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -8,13 +8,11 @@ import traceback from tqdm import tqdm from tools.lib.logreader import LogReader from tools.lib.route import Route -from selfdrive.car.interfaces import get_interface_attr from selfdrive.car.car_helpers import interface_names -from selfdrive.car.fw_versions import match_fw_to_car +from selfdrive.car.fw_versions import VERSIONS, match_fw_to_car NO_API = "NO_API" in os.environ -VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True) SUPPORTED_BRANDS = VERSIONS.keys() SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_names[brand]] UNKNOWN_BRAND = "unknown" @@ -74,7 +72,7 @@ if __name__ == "__main__": elif msg.which() == "carParams": CP = msg.carParams - car_fw = CP.carFw + car_fw = [fw for fw in CP.carFw if not fw.logging] if len(car_fw) == 0: print("no fw") break diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py index 8952405b8e..6b5ec36935 100755 --- a/selfdrive/debug/vw_mqb_config.py +++ b/selfdrive/debug/vw_mqb_config.py @@ -49,7 +49,7 @@ if __name__ == "__main__": sw_pn = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER).decode("utf-8") sw_ver = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER).decode("utf-8") component = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.SYSTEM_NAME_OR_ENGINE_TYPE).decode("utf-8") - odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8") + odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8").rstrip('\x00') current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING) # type: ignore coding_text = current_coding.hex() @@ -70,14 +70,14 @@ if __name__ == "__main__": coding_variant, current_coding_array, coding_byte, coding_bit = None, None, 0, 0 coding_length = len(current_coding) - # EV_SteerAssisMQB/MNB cover the majority of MQB racks (EPS_MQB_ZFLS) - if odx_file in ("EV_SteerAssisMQB\x00", "EV_SteerAssisMNB\x00"): - coding_variant = "ZF" + # EPS_MQB_ZFLS + if odx_file in ("EV_SteerAssisMQB", "EV_SteerAssisMNB"): + coding_variant = "ZFLS" coding_byte = 0 coding_bit = 4 - # APA racks (MQB_PP_APA) have a different coding layout - elif odx_file == "EV_SteerAssisVWBSMQBA\x00\x00\x00\x00": + # MQB_PP_APA, MQB_VWBS_GEN2 + elif odx_file in ("EV_SteerAssisVWBSMQBA", "EV_SteerAssisVWBSMQBGen2"): coding_variant = "APA" coding_byte = 3 coding_bit = 0 @@ -111,8 +111,8 @@ if __name__ == "__main__": if args.action in ["enable", "disable"]: print("\nAttempting configuration update") - assert(coding_variant in ("ZF", "APA")) - # ZF EPS config coding length can be anywhere from 1 to 4 bytes, but the + assert(coding_variant in ("ZFLS", "APA")) + # ZFLS EPS config coding length can be anywhere from 1 to 4 bytes, but the # bit we care about is always in the same place in the first byte if args.action == "enable": new_byte = current_coding_array[coding_byte] | (1 << coding_bit) diff --git a/selfdrive/locationd/.gitignore b/selfdrive/locationd/.gitignore index 86a228a6ff..11b9f127b2 100644 --- a/selfdrive/locationd/.gitignore +++ b/selfdrive/locationd/.gitignore @@ -1,6 +1,3 @@ -ubloxd -ubloxd_test params_learner paramsd locationd -test/test_glonass_runner diff --git a/selfdrive/locationd/SConscript b/selfdrive/locationd/SConscript index 61a0ed7f42..740f827a49 100644 --- a/selfdrive/locationd/SConscript +++ b/selfdrive/locationd/SConscript @@ -1,20 +1,6 @@ Import('env', 'common', 'cereal', 'messaging', 'libkf', 'transformations') -loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread'] - -if GetOption('kaitai'): - generated = Dir('generated').srcnode().abspath - cmd = f"kaitai-struct-compiler --target cpp_stl --outdir {generated} $SOURCES" - env.Command(['generated/ubx.cpp', 'generated/ubx.h'], 'ubx.ksy', cmd) - env.Command(['generated/gps.cpp', 'generated/gps.h'], 'gps.ksy', cmd) - glonass = env.Command(['generated/glonass.cpp', 'generated/glonass.h'], 'glonass.ksy', cmd) - - # kaitai issue: https://github.com/kaitai-io/kaitai_struct/issues/910 - patch = env.Command(None, 'glonass_fix.patch', 'git apply $SOURCES') - env.Depends(patch, glonass) - -glonass_obj = env.Object('generated/glonass.cpp') -env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp", glonass_obj], LIBS=loc_libs) +loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'pthread'] ekf_sym_cc = env.SharedObject("#rednose/helpers/ekf_sym.cc") locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc] @@ -25,7 +11,4 @@ lenv.Depends(locationd, libkf) if File("liblocationd.cc").exists(): liblocationd = lenv.SharedLibrary("liblocationd", ["liblocationd.cc"] + locationd_sources, LIBS=loc_libs + transformations) - lenv.Depends(liblocationd, libkf) - -if GetOption('test'): - env.Program("test/test_glonass_runner", ['test/test_glonass_runner.cc', 'test/test_glonass_kaitai.cc', glonass_obj], LIBS=[loc_libs]) \ No newline at end of file + lenv.Depends(liblocationd, libkf) \ No newline at end of file diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 1c68eb67bd..42fa3b7c94 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -25,7 +25,7 @@ MAX_VEL_ANGLE_STD = np.radians(0.25) MAX_YAW_RATE_FILTER = np.radians(2) # per second # This is at model frequency, blocks needed for efficiency -SMOOTH_CYCLES = 400 +SMOOTH_CYCLES = 10 BLOCK_SIZE = 100 INPUTS_NEEDED = 5 # Minimum blocks needed for valid calibration INPUTS_WANTED = 50 # We want a little bit more than we need for stability @@ -33,18 +33,12 @@ MAX_ALLOWED_SPREAD = np.radians(2) RPY_INIT = np.array([0.0,0.0,0.0]) WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0]) -# These values are needed to accommodate biggest modelframe -PITCH_LIMITS = np.array([-0.09074112085129739, 0.14907572052989657]) +# These values are needed to accommodate the model frame in the narrow cam of the C3 +PITCH_LIMITS = np.array([-0.09074112085129739, 0.17]) YAW_LIMITS = np.array([-0.06912048084718224, 0.06912048084718235]) DEBUG = os.getenv("DEBUG") is not None -class Calibration: - UNCALIBRATED = 0 - CALIBRATED = 1 - INVALID = 2 - - def is_calibration_valid(rpy: np.ndarray) -> bool: return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1]) # type: ignore @@ -69,6 +63,7 @@ class Calibrator: rpy_init = RPY_INIT wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT valid_blocks = 0 + self.cal_status = log.LiveCalibrationData.Status.uncalibrated if param_put and calibration_params: try: @@ -134,16 +129,20 @@ class Calibrator: self.calib_spread = np.zeros(3) if self.valid_blocks < INPUTS_NEEDED: - self.cal_status = Calibration.UNCALIBRATED + if self.cal_status == log.LiveCalibrationData.Status.recalibrating: + self.cal_status = log.LiveCalibrationData.Status.recalibrating + else: + self.cal_status = log.LiveCalibrationData.Status.uncalibrated elif is_calibration_valid(self.rpy): - self.cal_status = Calibration.CALIBRATED + self.cal_status = log.LiveCalibrationData.Status.calibrated else: - self.cal_status = Calibration.INVALID + self.cal_status = log.LiveCalibrationData.Status.invalid # If spread is too high, assume mounting was changed and reset to last block. # Make the transition smooth. Abrupt transitions are not good for feedback loop through supercombo model. - if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == Calibration.CALIBRATED: - self.reset(self.rpys[self.block_idx - 1], valid_blocks=INPUTS_NEEDED, smooth_from=self.rpy) + if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == log.LiveCalibrationData.Status.calibrated: + self.reset(self.rpys[self.block_idx - 1], valid_blocks=1, smooth_from=self.rpy) + self.cal_status = log.LiveCalibrationData.Status.recalibrating write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5) if self.param_put and write_this_cycle: @@ -162,7 +161,7 @@ class Calibrator: rot: List[float], wide_from_device_euler: List[float], trans_std: List[float]) -> Optional[np.ndarray]: - self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES) + self.old_rpy_weight = max(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES) straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER)) angle_std_threshold = MAX_VEL_ANGLE_STD @@ -210,7 +209,7 @@ class Calibrator: if self.not_car: liveCalibration.validBlocks = INPUTS_NEEDED - liveCalibration.calStatus = Calibration.CALIBRATED + liveCalibration.calStatus = log.LiveCalibrationData.Status.calibrated liveCalibration.calPerc = 100. liveCalibration.rpyCalib = [0, 0, 0] liveCalibration.rpyCalibSpread = self.calib_spread.tolist() diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index e85cd0ad42..71b81cc307 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -1,14 +1,12 @@ #!/usr/bin/env python3 -import json import math import os import time import shutil from collections import defaultdict from concurrent.futures import Future, ProcessPoolExecutor -from datetime import datetime from enum import IntEnum -from typing import List, Optional +from typing import List, Optional, Dict, Any import numpy as np @@ -17,9 +15,9 @@ from common.params import Params, put_nonblocking from laika import AstroDog from laika.constants import SECS_IN_HR, SECS_IN_MIN from laika.downloader import DownloadFailed -from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_gps_ephem, convert_ublox_glonass_ephem, parse_qcom_ephem +from laika.ephemeris import EphemerisType, GPSEphemeris, GLONASSEphemeris, ephemeris_structs, parse_qcom_ephem from laika.gps_time import GPSTime -from laika.helpers import ConstellationId +from laika.helpers import ConstellationId, get_sv_id from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velfix_sympy_func from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind @@ -28,15 +26,53 @@ from selfdrive.locationd.models.gnss_kf import States as GStates from system.swaglog import cloudlog MAX_TIME_GAP = 10 -EPHEMERIS_CACHE = 'LaikadEphemeris' +EPHEMERIS_CACHE = 'LaikadEphemerisV3' DOWNLOADS_CACHE_FOLDER = "/tmp/comma_download_cache/" CACHE_VERSION = 0.2 POS_FIX_RESIDUAL_THRESHOLD = 100.0 +class LogEphemerisType(IntEnum): + nav = 0 + nasaUltraRapid = 1 + glonassIacUltraRapid = 2 + qcom = 3 + +class EphemerisSource(IntEnum): + gnssChip = 0 + internet = 1 + cache = 2 + unknown = 3 + +def get_log_eph_type(ephem): + if ephem.eph_type == EphemerisType.NAV: + source_type = LogEphemerisType.nav + elif ephem.eph_type == EphemerisType.QCOM_POLY: + source_type = LogEphemerisType.qcom + else: + assert ephem.file_epoch is not None + file_src = ephem.file_source + if file_src == 'igu': # example nasa: '2214/igu22144_00.sp3.Z' + source_type = LogEphemerisType.nasaUltraRapid + elif file_src == 'Sta': # example nasa: '22166/ultra/Stark_1D_22061518.sp3' + source_type = LogEphemerisType.glonassIacUltraRapid + else: + raise Exception(f"Didn't expect file source {file_src}") + return source_type + +def get_log_eph_source(ephem): + if ephem.file_name == 'qcom' or ephem.file_name == 'ublox': + source = EphemerisSource.gnssChip + elif ephem.file_name == EPHEMERIS_CACHE: + source = EphemerisSource.cache + else: + source = EphemerisSource.internet + return source + + class Laikad: - def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_navs=True, auto_update=False, - valid_ephem_types=(EphemerisType.NAV,), + def __init__(self, valid_const=(ConstellationId.GPS, ConstellationId.GLONASS), auto_fetch_navs=True, auto_update=False, + valid_ephem_types=(EphemerisType.NAV, EphemerisType.QCOM_POLY), save_ephemeris=False, use_qcom=False): """ valid_const: GNSS constellation which can be used @@ -52,9 +88,9 @@ class Laikad: self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None self.orbit_fetch_future: Optional[Future] = None - self.last_fetch_navs_t = None - self.got_first_gnss_msg = False - self.last_cached_t = None + self.last_report_time = GPSTime(0, 0) + self.last_fetch_navs_t = GPSTime(0, 0) + self.last_cached_t = GPSTime(0, 0) self.save_ephemeris = save_ephemeris self.load_cache() @@ -64,59 +100,109 @@ class Laikad: self.last_fix_t = None self.gps_week = None self.use_qcom = use_qcom + self.first_log_time = None + self.ttff = -1 def load_cache(self): if not self.save_ephemeris: return - cache = Params().get(EPHEMERIS_CACHE) - if not cache: + cache_bytes = Params().get(EPHEMERIS_CACHE) + if not cache_bytes: return + nav_dict = {} try: - cache = json.loads(cache, object_hook=deserialize_hook) - if cache['version'] == CACHE_VERSION: - self.astro_dog.add_navs(cache['navs']) - self.last_fetch_navs_t = cache['last_fetch_navs_t'] - else: - cache['navs'] = {} - except json.decoder.JSONDecodeError: + ephem_cache = ephemeris_structs.EphemerisCache.from_bytes(cache_bytes) + glonass_navs = [GLONASSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.glonassEphemerides] + gps_navs = [GPSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.gpsEphemerides] + for e in sum([glonass_navs, gps_navs], []): + if e.prn not in nav_dict: + nav_dict[e.prn] = [] + nav_dict[e.prn].append(e) + self.astro_dog.add_navs(nav_dict) + except Exception: cloudlog.exception("Error parsing cache") - timestamp = self.last_fetch_navs_t.as_datetime() if self.last_fetch_navs_t is not None else 'Nan' cloudlog.debug( - f"Loaded navs ({sum([len(v) for v in cache['navs']])}) cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['navs'].keys())} " + - f"With time range: {[f'{start.as_datetime()}, {end.as_datetime()}' for (start,end) in self.astro_dog.navs_fetched_times._ranges]}") - - def cache_ephemeris(self, t: GPSTime): - if self.save_ephemeris and (self.last_cached_t is None or t - self.last_cached_t > SECS_IN_MIN): - put_nonblocking(EPHEMERIS_CACHE, json.dumps( - {'version': CACHE_VERSION, 'last_fetch_navs_t': self.last_fetch_navs_t, 'navs': self.astro_dog.navs}, - cls=CacheSerializer)) + f"Loaded navs ({sum([len(nav_dict[prn]) for prn in nav_dict.keys()])}). Unique orbit and nav sats: {list(nav_dict.keys())} ") + + def cache_ephemeris(self): + + if self.save_ephemeris and (self.last_report_time - self.last_cached_t > SECS_IN_MIN): + nav_list: List = sum([v for k,v in self.astro_dog.navs.items()], []) + ephem_cache = ephemeris_structs.EphemerisCache(**{'glonassEphemerides': [e.data for e in nav_list if e.prn[0]=='R'], + 'gpsEphemerides': [e.data for e in nav_list if e.prn[0]=='G']}) + + put_nonblocking(EPHEMERIS_CACHE, ephem_cache.to_bytes()) cloudlog.debug("Cache saved") - self.last_cached_t = t + self.last_cached_t = self.last_report_time + + def create_ephem_statuses(self): + ephemeris_statuses = [] + prns_to_check = list(self.astro_dog.get_all_ephem_prns()) + prns_to_check.sort() + for prn in prns_to_check: + eph = self.astro_dog.get_eph(prn, self.last_report_time) + if eph is not None: + status = log.GnssMeasurements.EphemerisStatus.new_message() + status.constellationId = ConstellationId.from_rinex_char(prn[0]).value + status.svId = get_sv_id(prn) + status.type = get_log_eph_type(eph).value + status.source = get_log_eph_source(eph).value + ephemeris_statuses.append(status) + return ephemeris_statuses + def get_lsq_fix(self, t, measurements): if self.last_fix_t is None or abs(self.last_fix_t - t) > 0: - min_measurements = 7 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 6 - position_solution, pr_residuals = calc_pos_fix(measurements, self.posfix_functions, min_measurements=min_measurements) + min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 4 + position_solution, pr_residuals, pos_std = calc_pos_fix(measurements, self.posfix_functions, min_measurements=min_measurements) if len(position_solution) < 3: return None position_estimate = position_solution[:3] - #TODO median abs residual is decent estimate of std, can be improved with measurements stds and/or DOP - position_std = np.median(np.abs(pr_residuals)) * np.ones(3) - velocity_solution, prr_residuals = calc_vel_fix(measurements, position_estimate, self.velfix_function, min_measurements=min_measurements) + + position_std_residual = np.median(np.abs(pr_residuals)) + position_std = np.median(np.abs(pos_std))/10 + position_std = max(position_std_residual, position_std) * np.ones(3) + + velocity_solution, prr_residuals, vel_std = calc_vel_fix(measurements, position_estimate, self.velfix_function, min_measurements=min_measurements) if len(velocity_solution) < 3: return None - velocity_estimate = velocity_solution[:3] - velocity_std = np.median(np.abs(prr_residuals)) * np.ones(3) + + velocity_std_residual = np.median(np.abs(prr_residuals)) + velocity_std = np.median(np.abs(vel_std))/10 + velocity_std = max(velocity_std, velocity_std_residual) * np.ones(3) + return position_estimate, position_std, velocity_estimate, velocity_std + def gps_time_from_qcom_report(self, gnss_msg): + report = gnss_msg.drMeasurementReport + if report.source == log.QcomGnss.MeasurementSource.gps: + report_time = GPSTime(report.gpsWeek, report.gpsMilliseconds / 1000.0) + elif report.source == log.QcomGnss.MeasurementSource.sbas: + report_time = GPSTime(report.gpsWeek, report.gpsMilliseconds / 1000.0) + elif report.source == log.QcomGnss.MeasurementSource.glonass: + report_time = GPSTime.from_glonass(report.glonassYear, + report.glonassDay, + report.glonassMilliseconds / 1000.0) + else: + raise NotImplementedError(f'Unknownconstellation {report.source}') + return report_time + def is_good_report(self, gnss_msg): if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom: constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) - # TODO support GLONASS - return constellation_id in [ConstellationId.GPS, ConstellationId.SBAS] + # TODO: Understand and use remaining unknown constellations + try: + good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS] + except NotImplementedError: + good_constellation = False + # Garbage timestamps with week > 32767 are sometimes sent by module. + # This is an issue with gpsTime and GLONASS time. + report_time = self.gps_time_from_qcom_report(gnss_msg) + good_week = report_time.week < np.iinfo(np.int16).max + return good_constellation and good_week elif gnss_msg.which() == 'measurementReport' and not self.use_qcom: return True else: @@ -124,16 +210,26 @@ class Laikad: def read_report(self, gnss_msg): if self.use_qcom: + # QCOM reports are per constellation, should always send 3 reports report = gnss_msg.drMeasurementReport - week = report.gpsWeek - tow = report.gpsMilliseconds / 1000.0 - new_meas = read_raw_qcom(report) + report_time = self.gps_time_from_qcom_report(gnss_msg) + + if report_time - self.last_report_time > 0: + self.qcom_reports = [report] + else: + self.qcom_reports.append(report) + self.last_report_time = report_time + + new_meas = [] + if len(self.qcom_reports) == 3: + for report in self.qcom_reports: + new_meas.extend(read_raw_qcom(report)) + else: report = gnss_msg.measurementReport - week = report.gpsWeek - tow = report.rcvTow + self.last_report_time = GPSTime(report.gpsWeek, report.rcvTow) new_meas = read_raw_ublox(report) - return week, tow, new_meas + return self.last_report_time, new_meas def is_ephemeris(self, gnss_msg): if self.use_qcom: @@ -146,29 +242,49 @@ class Laikad: # TODO this is not robust to gps week rollover if self.gps_week is None: return - ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week) + try: + ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week) + self.astro_dog.add_qcom_polys({ephem.prn: [ephem]}) + except Exception: + cloudlog.exception("Error parsing qcom svPoly ephemeris from qcom module") + return + else: if gnss_msg.which() == 'ephemeris': - ephem = convert_ublox_gps_ephem(gnss_msg.ephemeris) + data_struct = ephemeris_structs.Ephemeris.new_message(**gnss_msg.ephemeris.to_dict()) + try: + ephem = GPSEphemeris(data_struct, file_name='ublox') + except Exception: + cloudlog.exception("Error parsing GPS ephemeris from ublox") + return elif gnss_msg.which() == 'glonassEphemeris': - ephem = convert_ublox_glonass_ephem(gnss_msg.glonassEphemeris) + data_struct = ephemeris_structs.GlonassEphemeris.new_message(**gnss_msg.glonassEphemeris.to_dict()) + try: + ephem = GLONASSEphemeris(data_struct, file_name='ublox') + except Exception: + cloudlog.exception("Error parsing GLONASS ephemeris from ublox") + return else: cloudlog.error(f"Unsupported ephemeris type: {gnss_msg.which()}") return - self.astro_dog.add_navs({ephem.prn: [ephem]}) - self.cache_ephemeris(t=ephem.epoch) + self.astro_dog.add_navs({ephem.prn: [ephem]}) + self.cache_ephemeris() def process_report(self, new_meas, t): # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7] processed_measurements = process_measurements(new_meas, self.astro_dog) if self.last_fix_pos is not None: - corrected_measurements = correct_measurements(processed_measurements, self.last_fix_pos, self.astro_dog) - instant_fix = self.get_lsq_fix(t, corrected_measurements) - #instant_fix = self.get_lsq_fix(t, processed_measurements) + est_pos = self.last_fix_pos + correct_delay = True else: - corrected_measurements = [] - instant_fix = self.get_lsq_fix(t, processed_measurements) + est_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist() + correct_delay = False + corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog, correct_delay=correct_delay) + return corrected_measurements + + def calc_fix(self, t, measurements): + instant_fix = self.get_lsq_fix(t, measurements) if instant_fix is None: return None else: @@ -176,60 +292,51 @@ class Laikad: self.last_fix_t = t self.last_fix_pos = position_estimate self.lat_fix_pos_std = position_std - if (t*1e9) % 10 == 0: - cloudlog.debug(f"Measurements Incoming/Processed/Corrected: {len(new_meas), len(processed_measurements), len(corrected_measurements)}") - return position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, processed_measurements + return position_estimate, position_std, velocity_estimate, velocity_std def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False): + out_msg = messaging.new_message("gnssMeasurements") + t = gnss_mono_time * 1e-9 + msg_dict: Dict[str, Any] = {"measTime": gnss_mono_time} + if self.first_log_time is None: + self.first_log_time = 1e-9 * gnss_mono_time if self.is_ephemeris(gnss_msg): self.read_ephemeris(gnss_msg) - return None elif self.is_good_report(gnss_msg): - - week, tow, new_meas = self.read_report(gnss_msg) - if len(new_meas) == 0: - return None - - self.gps_week = week - t = gnss_mono_time * 1e-9 - if week > 0: - self.got_first_gnss_msg = True - latest_msg_t = GPSTime(week, tow) + report_t, new_meas = self.read_report(gnss_msg) + self.gps_week = report_t.week + if report_t.week > 0: if self.auto_fetch_navs: - self.fetch_navs(latest_msg_t, block) + self.fetch_navs(report_t, block) - output = self.process_report(new_meas, t) - if output is None: - return None - position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, _ = output + corrected_measurements = self.process_report(new_meas, t) + msg_dict['correctedMeasurements'] = [create_measurement_msg(m) for m in corrected_measurements] - self.update_localizer(position_estimate, t, corrected_measurements) - meas_msgs = [create_measurement_msg(m) for m in corrected_measurements] - msg = messaging.new_message("gnssMeasurements") + fix = self.calc_fix(t, corrected_measurements) measurement_msg = log.LiveLocationKalman.Measurement.new_message - + if fix is not None: + position_estimate, position_std, velocity_estimate, velocity_std = fix + if self.ttff <= 0: + self.ttff = max(1e-3, t - self.first_log_time) + msg_dict["positionECEF"] = measurement_msg(value=position_estimate, std=position_std.tolist(), valid=bool(self.last_fix_t == t)) + msg_dict["velocityECEF"] = measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t)) + + self.update_localizer(self.last_fix_pos, t, corrected_measurements) P_diag = self.gnss_kf.P.diagonal() kf_valid = all(self.kf_valid(t)) - msg.gnssMeasurements = { - "gpsWeek": week, - "gpsTimeOfWeek": tow, - "kalmanPositionECEF": measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(), + msg_dict["kalmanPositionECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(), std=np.sqrt(P_diag[GStates.ECEF_POS]).tolist(), - valid=kf_valid), - "kalmanVelocityECEF": measurement_msg(value=self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist(), + valid=kf_valid) + msg_dict["kalmanVelocityECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist(), std=np.sqrt(P_diag[GStates.ECEF_VELOCITY]).tolist(), - valid=kf_valid), - "positionECEF": measurement_msg(value=position_estimate, std=position_std.tolist(), valid=bool(self.last_fix_t == t)), - "velocityECEF": measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t)), - - "measTime": gnss_mono_time, - "correctedMeasurements": meas_msgs - } - return msg - - #elif gnss_msg.which() == 'ionoData': - # TODO: add this, Needed to better correct messages offline. First fix ublox_msg.cc to sent them. + valid=kf_valid) + msg_dict['gpsWeek'] = self.last_report_time.week + msg_dict['gpsTimeOfWeek'] = self.last_report_time.tow + msg_dict['timeToFirstFix'] = self.ttff + msg_dict['ephemerisStatuses'] = self.create_ephem_statuses() + out_msg.gnssMeasurements = msg_dict + return out_msg def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]): # Check time and outputs are valid @@ -241,7 +348,7 @@ class Laikad: cloudlog.error("Time gap of over 10s detected, gnss kalman reset") elif not valid[2]: cloudlog.error("Gnss kalman filter state is nan") - if len(est_pos) > 0: + if est_pos is not None and len(est_pos) > 0: cloudlog.info(f"Reset kalman filter with {est_pos}") self.init_gnss_localizer(est_pos) else: @@ -266,7 +373,7 @@ class Laikad: def fetch_navs(self, t: GPSTime, block): # Download new navs if 1 hour of navs data left - if t + SECS_IN_HR not in self.astro_dog.navs_fetched_times and (self.last_fetch_navs_t is None or abs(t - self.last_fetch_navs_t) > SECS_IN_MIN): + if t + SECS_IN_HR not in self.astro_dog.navs_fetched_times and (abs(t - self.last_fetch_navs_t) > SECS_IN_MIN): astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types, self.astro_dog.cache_dir ret = None @@ -284,7 +391,7 @@ class Laikad: self.last_fetch_navs_t = ret[2] else: self.astro_dog.navs, self.astro_dog.navs_fetched_times, self.last_fetch_navs_t = ret - self.cache_ephemeris(t=t) + self.cache_ephemeris() def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types, cache_dir): @@ -314,31 +421,8 @@ def create_measurement_msg(meas: GNSSMeasurement): c.satPos = meas.sat_pos_final.tolist() c.satVel = meas.sat_vel.tolist() c.satVel = meas.sat_vel.tolist() - ephem = meas.sat_ephemeris - assert ephem is not None - week, time_of_week = -1, -1 - if ephem.eph_type == EphemerisType.NAV: - source_type = EphemerisSourceType.nav - elif ephem.eph_type == EphemerisType.QCOM_POLY: - source_type = EphemerisSourceType.qcom - else: - assert ephem.file_epoch is not None - week = ephem.file_epoch.week - time_of_week = ephem.file_epoch.tow - file_src = ephem.file_source - if file_src == 'igu': # example nasa: '2214/igu22144_00.sp3.Z' - source_type = EphemerisSourceType.nasaUltraRapid - elif file_src == 'Sta': # example nasa: '22166/ultra/Stark_1D_22061518.sp3' - source_type = EphemerisSourceType.glonassIacUltraRapid - else: - raise Exception(f"Didn't expect file source {file_src}") - - c.ephemerisSource.type = source_type.value - c.ephemerisSource.gpsWeek = week - c.ephemerisSource.gpsTimeOfWeek = int(time_of_week) return c - def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMeasurement]): ekf_data = defaultdict(list) for m in measurements: @@ -354,93 +438,38 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe gnss_kf.predict_and_observe(t, kind, data) -class CacheSerializer(json.JSONEncoder): - - def default(self, o): - if isinstance(o, Ephemeris): - return o.to_json() - if isinstance(o, GPSTime): - return o.__dict__ - if isinstance(o, np.ndarray): - return o.tolist() - return json.JSONEncoder.default(self, o) - - -def deserialize_hook(dct): - if 'ephemeris' in dct: - return Ephemeris.from_json(dct) - if 'week' in dct: - return GPSTime(dct['week'], dct['tow']) - return dct - - -class EphemerisSourceType(IntEnum): - nav = 0 - nasaUltraRapid = 1 - glonassIacUltraRapid = 2 - qcom = 3 - - -def process_msg(laikad, gnss_msg, mono_time, block=False): - # TODO: Understand and use remaining unknown constellations - if gnss_msg.which() == "drMeasurementReport": - if getattr(gnss_msg, gnss_msg.which()).source not in ['glonass', 'gps', 'beidou', 'sbas']: - return None - - if getattr(gnss_msg, gnss_msg.which()).gpsWeek > np.iinfo(np.int16).max: - # gpsWeek 65535 is received rarely from quectel, this cannot be - # passed to GnssMeasurements's gpsWeek (Int16) - return None - - return laikad.process_gnss_msg(gnss_msg, mono_time, block=block) - - def clear_tmp_cache(): if os.path.exists(DOWNLOADS_CACHE_FOLDER): shutil.rmtree(DOWNLOADS_CACHE_FOLDER) os.mkdir(DOWNLOADS_CACHE_FOLDER) -def main(sm=None, pm=None, qc=None): +def main(sm=None, pm=None): #clear_tmp_cache() use_qcom = not Params().get_bool("UbloxAvailable", block=True) - if use_qcom or (qc is not None and qc): - raw_gnss_socket = "qcomGnss" + if use_qcom: + raw_name = "qcomGnss" else: - raw_gnss_socket = "ubloxGnss" - - if sm is None: - sm = messaging.SubMaster([raw_gnss_socket, 'clocks']) + raw_name = "ubloxGnss" + raw_gnss_sock = messaging.sub_sock(raw_name, conflate=False) if pm is None: pm = messaging.PubMaster(['gnssMeasurements']) # disable until set as main gps source, to better analyze startup time - use_internet = False #"LAIKAD_NO_INTERNET" not in os.environ + use_internet = False # "LAIKAD_NO_INTERNET" not in os.environ replay = "REPLAY" in os.environ - if replay or "CI" in os.environ: + if replay: use_internet = True laikad = Laikad(save_ephemeris=not replay, auto_fetch_navs=use_internet, use_qcom=use_qcom) while True: - sm.update() - - if sm.updated[raw_gnss_socket]: - gnss_msg = sm[raw_gnss_socket] - - msg = process_msg(laikad, gnss_msg, sm.logMonoTime[raw_gnss_socket], replay) - if msg is None: - # TODO: beautify this, locationd needs a valid message - msg = messaging.new_message("gnssMeasurements") - pm.send('gnssMeasurements', msg) - - if not laikad.got_first_gnss_msg and sm.updated['clocks']: - clocks_msg = sm['clocks'] - t = GPSTime.from_datetime(datetime.utcfromtimestamp(clocks_msg.wallTimeNanos * 1E-9)) - if laikad.auto_fetch_navs: - laikad.fetch_navs(t, block=replay) + for in_msg in messaging.drain_sock(raw_gnss_sock, wait_for_one=True): + out_msg = laikad.process_gnss_msg(getattr(in_msg, raw_name), in_msg.logMonoTime, replay) + pm.send('gnssMeasurements', out_msg) + if __name__ == "__main__": main() diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 307626506a..9ee9e33fb4 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; @@ -181,6 +180,7 @@ void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) { fix.setPosenetOK(!(std_spike && this->car_speed > 5.0)); fix.setDeviceStable(!this->device_fell); fix.setExcessiveResets(this->reset_tracker > MAX_RESET_TRACKER); + fix.setTimeToFirstFix(std::isnan(this->ttff) ? -1. : this->ttff); this->device_fell = false; //fix.setGpsWeek(this->time.week); @@ -304,13 +304,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK)); bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK); - // quectel gps verticalAccuracy is clipped to 500 - bool gps_accuracy_insane_quectel = false; - if (!ublox_available) { - gps_accuracy_insane_quectel = log.getVerticalAccuracy() == 500; - } - - if (gps_invalid_flag || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane || gps_accuracy_insane_quectel) { + if (gps_invalid_flag || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) { //this->gps_valid = false; this->determine_gps_mode(current_time); return; @@ -326,8 +320,14 @@ 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 +377,14 @@ 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(); @@ -507,7 +507,7 @@ void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibra this->calib = live_calib; this->device_from_calib = euler2rot(this->calib); this->calib_from_device = this->device_from_calib.transpose(); - this->calibrated = log.getCalStatus() == 1; + this->calibrated = log.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED; this->observation_values_invalid["liveCalibration"] *= DECAY; } } @@ -530,6 +530,9 @@ void Localizer::time_check(double current_time) { if (std::isnan(this->last_reset_time)) { this->last_reset_time = current_time; } + if (std::isnan(this->first_valid_log_time)) { + this->first_valid_log_time = current_time; + } double filter_time = this->kf->get_filter_time(); bool big_time_gap = !std::isnan(filter_time) && (current_time - filter_time > 10); if (big_time_gap) { @@ -661,8 +664,10 @@ 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"}; @@ -699,6 +704,11 @@ int Localizer::locationd_thread() { bool gpsOK = this->is_gps_ok(); bool sensorsOK = sm.allAliveAndValid({"accelerometer", "gyroscope"}); + // Log time to first fix + if (gpsOK && std::isnan(this->ttff) && !std::isnan(this->first_valid_log_time)) { + this->ttff = std::max(1e-3, (sm[trigger_msg].getLogMonoTime() * 1e-9) - this->first_valid_log_time); + } + MessageBuilder msg_builder; kj::ArrayPtr bytes = this->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, filterInitialized); pm.send("liveLocationKalman", bytes.begin(), bytes.size()); diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h index a292a3c936..e2b2096afc 100755 --- a/selfdrive/locationd/locationd.h +++ b/selfdrive/locationd/locationd.h @@ -14,7 +14,7 @@ #include "common/timing.h" #include "common/util.h" -#include "selfdrive/sensord/sensors/constants.h" +#include "system/sensord/sensors/constants.h" #define VISION_DECIMATION 2 #define SENSOR_DECIMATION 10 #include "selfdrive/locationd/models/live_kf.h" @@ -78,10 +78,13 @@ private: double reset_tracker = 0.0; bool device_fell = false; bool gps_mode = false; + double first_valid_log_time = NAN; + double ttff = NAN; double last_gps_msg = 0; bool ublox_available = true; bool observation_timings_invalid = false; std::map observation_values_invalid; bool standstill = true; int32_t orientation_reset_count = 0; + float gps_std_factor; }; diff --git a/selfdrive/locationd/test/test_calibrationd.py b/selfdrive/locationd/test/test_calibrationd.py index 3612f48276..18125cc43f 100755 --- a/selfdrive/locationd/test/test_calibrationd.py +++ b/selfdrive/locationd/test/test_calibrationd.py @@ -5,8 +5,9 @@ import unittest import numpy as np import cereal.messaging as messaging +from cereal import log from common.params import Params -from selfdrive.locationd.calibrationd import Calibrator +from selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, MAX_YAW_RATE_FILTER, SMOOTH_CYCLES class TestCalibrationd(unittest.TestCase): @@ -22,5 +23,82 @@ class TestCalibrationd(unittest.TestCase): self.assertEqual(msg.liveCalibration.validBlocks, c.valid_blocks) + def test_calibration_basics(self): + c = Calibrator(param_put=False) + for _ in range(BLOCK_SIZE * INPUTS_WANTED): + c.handle_v_ego(MIN_SPEED_FILTER + 1) + c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], + [0.0, 0.0, 0.0], + [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3]) + self.assertEqual(c.valid_blocks, INPUTS_WANTED) + np.testing.assert_allclose(c.rpy, np.zeros(3)) + c.reset() + + def test_calibration_low_speed_reject(self): + c = Calibrator(param_put=False) + for _ in range(BLOCK_SIZE * INPUTS_WANTED): + c.handle_v_ego(MIN_SPEED_FILTER - 1) + c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], + [0.0, 0.0, 0.0], + [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3]) + for _ in range(BLOCK_SIZE * INPUTS_WANTED): + c.handle_v_ego(MIN_SPEED_FILTER + 1) + c. handle_cam_odom([MIN_SPEED_FILTER - 1, 0.0, 0.0], + [0.0, 0.0, 0.0], + [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3]) + self.assertEqual(c.valid_blocks, 0) + np.testing.assert_allclose(c.rpy, np.zeros(3)) + + + def test_calibration_yaw_rate_reject(self): + c = Calibrator(param_put=False) + for _ in range(BLOCK_SIZE * INPUTS_WANTED): + c.handle_v_ego(MIN_SPEED_FILTER + 1) + c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], + [0.0, 0.0, MAX_YAW_RATE_FILTER ], + [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3]) + self.assertEqual(c.valid_blocks, 0) + np.testing.assert_allclose(c.rpy, np.zeros(3)) + + + def test_calibration_speed_std_reject(self): + c = Calibrator(param_put=False) + for _ in range(BLOCK_SIZE * INPUTS_WANTED): + c.handle_v_ego(MIN_SPEED_FILTER + 1) + c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], + [0.0, 0.0, 0.0], + [0.0, 0.0, 0.0], + [1e3, 1e3, 1e3]) + self.assertEqual(c.valid_blocks, INPUTS_NEEDED) + np.testing.assert_allclose(c.rpy, np.zeros(3)) + + + def test_calibration_auto_reset(self): + c = Calibrator(param_put=False) + for _ in range(BLOCK_SIZE * INPUTS_WANTED): + c.handle_v_ego(MIN_SPEED_FILTER + 1) + c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], + [0.0, 0.0, 0.0], + [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3]) + self.assertEqual(c.valid_blocks, INPUTS_WANTED) + np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0]) + old_rpy_weight_prev = 0.0 + for _ in range(BLOCK_SIZE + 10): + self.assertLess(old_rpy_weight_prev - c.old_rpy_weight, 1/SMOOTH_CYCLES + 1e-3) + old_rpy_weight_prev = c.old_rpy_weight + c.handle_v_ego(MIN_SPEED_FILTER + 1) + c.handle_cam_odom([MIN_SPEED_FILTER + 1, -0.05 * MIN_SPEED_FILTER, 0.0], + [0.0, 0.0, 0.0], + [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3]) + self.assertEqual(c.valid_blocks, 1) + self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.recalibrating) + np.testing.assert_allclose(c.rpy, [0.0, 0.0, -0.05], atol=1e-2) + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index d89f521228..2902790fa5 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -1,51 +1,70 @@ #!/usr/bin/env python3 import time import unittest -from collections import defaultdict +from cereal import log +from common.params import Params from datetime import datetime from unittest import mock -from unittest.mock import patch -from common.params import Params + from laika.constants import SECS_IN_DAY from laika.downloader import DownloadFailed -from laika.ephemeris import EphemerisType, GPSEphemeris +from laika.ephemeris import EphemerisType from laika.gps_time import GPSTime -from laika.helpers import ConstellationId, TimeRangeHolder -from laika.raw_gnss import GNSSMeasurement, read_raw_ublox -from selfdrive.locationd.laikad import EPHEMERIS_CACHE, EphemerisSourceType, Laikad, create_measurement_msg +from laika.helpers import ConstellationId +from laika.raw_gnss import GNSSMeasurement, read_raw_ublox, read_raw_qcom +from selfdrive.locationd.laikad import EPHEMERIS_CACHE, Laikad from selfdrive.test.openpilotci import get_url from tools.lib.logreader import LogReader +from selfdrive.test.process_replay.process_replay import get_process_config, replay_process + +GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12)) + -def get_log(segs=range(0)): +def get_log_ublox(segs=range(0)): logs = [] for i in segs: logs.extend(LogReader(get_url("4cf7a6ad03080c90|2021-09-29--13-46-36", i))) - all_logs = [m for m in logs if m.which() == 'ubloxGnss'] + ublox_cfg = get_process_config("ubloxd") + all_logs = replay_process(ublox_cfg, logs) low_gnss = [] for m in all_logs: - if m.ubloxGnss.which() != 'measurementReport': + if m.which() != "ubloxGnss" or m.ubloxGnss.which() != 'measurementReport': continue MAX_MEAS = 7 if m.ubloxGnss.measurementReport.numMeas > MAX_MEAS: - mb = m.as_builder() + mb = log.Event.new_message(ubloxGnss=m.ubloxGnss.to_dict()) + mb.logMonoTime = m.logMonoTime mb.ubloxGnss.measurementReport.numMeas = MAX_MEAS mb.ubloxGnss.measurementReport.measurements = list(m.ubloxGnss.measurementReport.measurements)[:MAX_MEAS] mb.ubloxGnss.measurementReport.measurements[0].pseudorange += 1000 low_gnss.append(mb.as_reader()) else: low_gnss.append(m) - return all_logs, low_gnss +def get_log_qcom(segs=range(0)): + logs = [] + for i in segs: + logs.extend(LogReader(get_url("b0b3cba7abf862d1|2023-03-11--09-40-33", i))) + all_logs = [m for m in logs if m.which() == 'qcomGnss'] + return all_logs + + def verify_messages(lr, laikad, return_one_success=False): good_msgs = [] for m in lr: - msg = laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True) + if m.which() == 'ubloxGnss': + gnss_msg = m.ubloxGnss + elif m.which() == 'qcomGnss': + gnss_msg = m.qcomGnss + else: + continue + msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=True) if msg is not None and len(msg.gnssMeasurements.correctedMeasurements) > 0: good_msgs.append(msg) if return_one_success: @@ -55,10 +74,16 @@ def verify_messages(lr, laikad, return_one_success=False): def get_first_gps_time(logs): for m in logs: - if m.ubloxGnss.which == 'measurementReport': - new_meas = read_raw_ublox(m.ubloxGnss.measurementReport) - if len(new_meas) > 0: - return new_meas[0].recv_time + if m.which() == 'ubloxGnss': + if m.ubloxGnss.which == 'measurementReport': + new_meas = read_raw_ublox(m.ubloxGnss.measurementReport) + if len(new_meas) > 0: + return new_meas[0].recv_time + elif m.which() == "qcomGnss": + if m.qcomGnss.which == 'measurementReport': + new_meas = read_raw_qcom(m.qcomGnss.measurementReport) + if len(new_meas) > 0: + return new_meas[0].recv_time def get_measurement_mock(gpstime, sat_ephemeris): @@ -69,16 +94,14 @@ def get_measurement_mock(gpstime, sat_ephemeris): return meas -GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12)) - - class TestLaikad(unittest.TestCase): @classmethod def setUpClass(cls): - logs, low_gnss = get_log(range(1)) + logs, low_gnss = get_log_ublox(range(1)) cls.logs = logs cls.low_gnss = low_gnss + cls.logs_qcom = get_log_qcom(range(1)) first_gps_time = get_first_gps_time(logs) cls.first_gps_time = first_gps_time @@ -90,9 +113,9 @@ class TestLaikad(unittest.TestCase): laikad = Laikad() laikad.fetch_navs(gpstime, block=False) laikad.orbit_fetch_future.result(30) + # Get results and save orbits to laikad: laikad.fetch_navs(gpstime, block=False) - ephem = laikad.astro_dog.navs['G01'][0] self.assertIsNotNone(ephem) @@ -105,6 +128,7 @@ class TestLaikad(unittest.TestCase): self.assertIsNotNone(ephem) self.assertNotEqual(ephem, ephem2) + def test_fetch_navs_with_wrong_clocks(self): laikad = Laikad() @@ -127,40 +151,11 @@ class TestLaikad(unittest.TestCase): check_has_navs() self.assertEqual(laikad.last_fetch_navs_t, real_current_time) - def test_ephemeris_source_in_msg(self): - data_mock = defaultdict(str) - data_mock['sv_id'] = 1 - - gpstime = GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC - laikad = Laikad() - laikad.fetch_navs(gpstime, block=True) - meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['R01'][0]) - msg = create_measurement_msg(meas) - self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav) - # Verify gps satellite returns same source - meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['R01'][0]) - msg = create_measurement_msg(meas) - self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav) - - # Test nasa source by using older date - gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1)) - laikad = Laikad() - laikad.fetch_navs(gpstime, block=True) - meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['G01'][0]) - msg = create_measurement_msg(meas) - self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav) - - # Test nav source type - ephem = GPSEphemeris(data_mock, gpstime) - meas = get_measurement_mock(gpstime, ephem) - msg = create_measurement_msg(meas) - self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav) - def test_laika_online(self): laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT) correct_msgs = verify_messages(self.logs, laikad) - correct_msgs_expected = 554 + correct_msgs_expected = 560 self.assertEqual(correct_msgs_expected, len(correct_msgs)) self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) @@ -170,6 +165,9 @@ class TestLaikad(unittest.TestCase): self.assertFalse(all(laikad.kf_valid(m.logMonoTime * 1e-9))) kf_valid = False for m in self.logs: + if m.which() != 'ubloxGnss': + continue + laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True) kf_valid = all(laikad.kf_valid(m.logMonoTime * 1e-9)) if kf_valid: @@ -177,12 +175,15 @@ class TestLaikad(unittest.TestCase): self.assertTrue(kf_valid) def test_laika_online_nav_only(self): - laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV) - # Disable fetch_orbits to test NAV only - correct_msgs = verify_messages(self.logs, laikad) - correct_msgs_expected = 554 - self.assertEqual(correct_msgs_expected, len(correct_msgs)) - self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) + for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]): + laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV, use_qcom=use_qcom) + # Disable fetch_orbits to test NAV only + correct_msgs = verify_messages(logs, laikad) + correct_msgs_expected = 44 if use_qcom else 560 + valid_fix_expected = 43 if use_qcom else 560 + + self.assertEqual(correct_msgs_expected, len(correct_msgs)) + self.assertEqual(valid_fix_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) @mock.patch('laika.downloader.download_and_cache_file') def test_laika_offline(self, downloader_mock): @@ -195,8 +196,9 @@ class TestLaikad(unittest.TestCase): downloader_mock.side_effect = DownloadFailed laikad = Laikad(auto_update=False) correct_msgs = verify_messages(self.logs, laikad) - self.assertEqual(0, len(correct_msgs)) - self.assertEqual(0, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) + expected_msgs = 376 + self.assertEqual(expected_msgs, len(correct_msgs)) + self.assertEqual(expected_msgs, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) def test_laika_get_orbits(self): laikad = Laikad(auto_update=False) @@ -212,65 +214,88 @@ class TestLaikad(unittest.TestCase): self.assertGreater(len(laikad.astro_dog.navs[prn]), 0) prn = "R01" self.assertGreater(len(laikad.astro_dog.navs[prn]), 0) - print(min(laikad.astro_dog.navs[prn], key=lambda e: e.epoch).epoch.as_datetime()) def test_get_navs_in_process(self): - laikad = Laikad(auto_update=False) - has_navs = False - for m in self.logs: - laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=False) - if laikad.orbit_fetch_future is not None: - laikad.orbit_fetch_future.result() - vals = laikad.astro_dog.navs.values() - has_navs = len(vals) > 0 and max([len(v) for v in vals]) > 0 - if has_navs: - break - self.assertTrue(has_navs) - self.assertGreater(len(laikad.astro_dog.navs_fetched_times._ranges), 0) - self.assertEqual(None, laikad.orbit_fetch_future) + for auto_fetch_navs in [True, False]: + for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]): + laikad = Laikad(auto_update=False, use_qcom=use_qcom, auto_fetch_navs=auto_fetch_navs) + has_navs = False + has_fix = False + seen_chip_eph = False + seen_internet_eph = False + + for m in logs: + if m.which() != 'ubloxGnss' and m.which() != 'qcomGnss': + continue + + gnss_msg = m.qcomGnss if use_qcom else m.ubloxGnss + out_msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=False) + if laikad.orbit_fetch_future is not None: + laikad.orbit_fetch_future.result() + vals = laikad.astro_dog.navs.values() + has_navs = len(vals) > 0 and max([len(v) for v in vals]) > 0 + vals = laikad.astro_dog.qcom_polys.values() + has_polys = len(vals) > 0 and max([len(v) for v in vals]) > 0 + has_fix = has_fix or out_msg.gnssMeasurements.positionECEF.valid + if len(out_msg.gnssMeasurements.ephemerisStatuses): + seen_chip_eph = seen_chip_eph or any([x.source == 'gnssChip' for x in out_msg.gnssMeasurements.ephemerisStatuses]) + seen_internet_eph = seen_internet_eph or any([x.source == 'internet' for x in out_msg.gnssMeasurements.ephemerisStatuses]) + + self.assertTrue(has_navs or has_polys) + self.assertTrue(has_fix) + self.assertTrue(seen_chip_eph or auto_fetch_navs) + self.assertTrue(seen_internet_eph or not auto_fetch_navs) + self.assertEqual(len(laikad.astro_dog.navs_fetched_times._ranges), 0) + self.assertEqual(None, laikad.orbit_fetch_future) def test_cache(self): - laikad = Laikad(auto_update=True, save_ephemeris=True) - - def wait_for_cache(): - max_time = 2 - while Params().get(EPHEMERIS_CACHE) is None: - time.sleep(0.1) - max_time -= 0.1 - if max_time < 0: - self.fail("Cache has not been written after 2 seconds") - - # Test cache with no ephemeris - laikad.cache_ephemeris(t=GPSTime(0, 0)) - wait_for_cache() - Params().remove(EPHEMERIS_CACHE) - - #laikad.astro_dog.get_navs(self.first_gps_time) - laikad.fetch_navs(self.first_gps_time, block=True) - - # Wait for cache to save - wait_for_cache() - - # Check both nav and orbits separate - laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, save_ephemeris=True) - # Verify navs are loaded from cache - self.dict_has_values(laikad.astro_dog.navs) - # Verify cache is working for only nav by running a segment - msg = verify_messages(self.logs, laikad, return_one_success=True) - self.assertIsNotNone(msg) - - with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method: - # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently - laikad.astro_dog.orbit_fetched_times = TimeRangeHolder() - laikad.fetch_navs(self.first_gps_time, block=False) - mock_method.assert_not_called() - - # Verify cache is working for only orbits by running a segment - laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT, save_ephemeris=True) - msg = verify_messages(self.logs, laikad, return_one_success=True) + use_qcom = True + for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]): + laikad = Laikad(auto_update=True, save_ephemeris=True, use_qcom=use_qcom) + def wait_for_cache(): + max_time = 2 + while Params().get(EPHEMERIS_CACHE) is None: + time.sleep(0.1) + max_time -= 0.1 + if max_time < 0: + self.fail("Cache has not been written after 2 seconds") + + # Test cache with no ephemeris + laikad.last_report_time = GPSTime(1,0) + laikad.cache_ephemeris() + wait_for_cache() + Params().remove(EPHEMERIS_CACHE) + + #laikad.astro_dog.get_navs(self.first_gps_time) + msg = verify_messages(logs, laikad, return_one_success=True) + laikad.cache_ephemeris() + wait_for_cache() + + # Check both nav and orbits separate + laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, + save_ephemeris=True, use_qcom=use_qcom, auto_fetch_navs=False) + # Verify navs are loaded from cache + self.dict_has_values(laikad.astro_dog.navs) + # Verify cache is working for only nav by running a segment + msg = verify_messages(logs, laikad, return_one_success=True) + self.assertTrue(len(msg.gnssMeasurements.ephemerisStatuses)) + self.assertTrue(any([x.source=='cache' for x in msg.gnssMeasurements.ephemerisStatuses])) self.assertIsNotNone(msg) - # Verify orbit data is not downloaded - mock_method.assert_not_called() + + #TODO test cache with only orbits + #with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method: + # # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently + # laikad.astro_dog.orbit_fetched_times = TimeRangeHolder() + # laikad.fetch_navs(self.first_gps_time, block=False) + # mock_method.assert_not_called() + + # # Verify cache is working for only orbits by running a segment + # laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT, save_ephemeris=True) + # msg = verify_messages(self.logs, laikad, return_one_success=True) + # self.assertIsNotNone(msg) + # # Verify orbit data is not downloaded + # mock_method.assert_not_called() + #break def test_low_gnss_meas(self): cnt = 0 @@ -282,7 +307,7 @@ class TestLaikad(unittest.TestCase): gm = msg.gnssMeasurements if len(gm.correctedMeasurements) != 0 and gm.positionECEF.valid: cnt += 1 - self.assertEqual(cnt, 554) + self.assertEqual(cnt, 560) def dict_has_values(self, dct): self.assertGreater(len(dct), 0) diff --git a/selfdrive/manager/helpers.py b/selfdrive/manager/helpers.py index 983c7cc0b1..f8607fffc6 100644 --- a/selfdrive/manager/helpers.py +++ b/selfdrive/manager/helpers.py @@ -36,3 +36,8 @@ def unblock_stdout() -> None: # whose low byte is the signal number and whose high byte is the exit status exit_status = os.wait()[1] >> 8 os._exit(exit_status) + + +def write_onroad_params(started, params): + params.put_bool("IsOnroad", started) + params.put_bool("IsOffroad", not started) diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 865966d6c5..c6b135935f 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -14,13 +14,14 @@ from common.params import Params, ParamKeyType from common.text_window import TextWindow from selfdrive.boardd.set_time import set_time from system.hardware import HARDWARE, PC -from selfdrive.manager.helpers import unblock_stdout +from selfdrive.manager.helpers import unblock_stdout, write_onroad_params from selfdrive.manager.process import ensure_running from selfdrive.manager.process_config import managed_processes from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID from system.swaglog import cloudlog, add_file_handler from system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \ - terms_version, training_version, is_tested_branch, is_release_branch + get_normalized_origin, terms_version, training_version, \ + is_tested_branch, is_release_branch @@ -29,14 +30,16 @@ def manager_init() -> None: set_time(cloudlog) # save boot log - subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd")) + subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd")) params = Params() params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) + params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION) + params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION) default_params: List[Tuple[str, Union[str, bytes]]] = [ ("CompletedTrainingVersion", "0"), - ("DisengageOnAccelerator", "1"), + ("DisengageOnAccelerator", "0"), ("GsmMetered", "1"), ("HasAcceptedTerms", "0"), ("LanguageSetting", "main_en"), @@ -92,7 +95,12 @@ def manager_init() -> None: # init logging sentry.init(sentry.SentryProject.SELFDRIVE) - cloudlog.bind_global(dongle_id=dongle_id, version=get_version(), dirty=is_dirty(), + cloudlog.bind_global(dongle_id=dongle_id, + version=get_version(), + origin=get_normalized_origin(), + branch=get_short_branch(), + commit=get_commit(), + dirty=is_dirty(), device=HARDWARE.get_device_type()) @@ -130,12 +138,27 @@ def manager_thread() -> None: sm = messaging.SubMaster(['deviceState', 'carParams'], poll=['deviceState']) pm = messaging.PubMaster(['managerState']) + write_onroad_params(False, params) ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore) + started_prev = False + while True: sm.update() started = sm['deviceState'].started + + if started and not started_prev: + params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION) + elif not started and started_prev: + params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION) + + # update onroad params, which drives boardd's safety setter thread + if started != started_prev: + write_onroad_params(started, params) + + started_prev = started + ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore) running = ' '.join("%s%s\u001b[0m" % ("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name) @@ -153,7 +176,7 @@ def manager_thread() -> None: for param in ("DoUninstall", "DoShutdown", "DoReboot"): if params.get_bool(param): shutdown = True - params.put("LastManagerExitReason", param) + params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}") cloudlog.warning(f"Shutting down manager - {param} set") if shutdown: diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 8fc4d94e55..57c42aaaaa 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -17,11 +17,17 @@ def logging(started, params, CP: car.CarParams) -> bool: run = (not CP.notCar) or not params.get_bool("DisableLogging") return started and run +def ublox_available() -> bool: + return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps') + def ublox(started, params, CP: car.CarParams) -> bool: - use_ublox = os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps') + use_ublox = ublox_available() params.put_bool("UbloxAvailable", use_ublox) return started and use_ublox +def qcomgps(started, params, CP: car.CarParams) -> bool: + return started and not ublox_available() + procs = [ # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview), @@ -34,12 +40,12 @@ procs = [ DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"), NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview), - NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]), - NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging), + NativeProcess("encoderd", "system/loggerd", ["./encoderd"]), + NativeProcess("loggerd", "system/loggerd", ["./loggerd"], onroad=False, callback=logging), NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]), NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"], enabled=False), NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False), - NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC), + NativeProcess("sensord", "system/sensord", ["./sensord"], enabled=not PC), NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)), NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], offroad=True), NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]), @@ -47,21 +53,21 @@ procs = [ PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"), PythonProcess("torqued", "selfdrive.locationd.torqued"), PythonProcess("controlsd", "selfdrive.controls.controlsd"), - PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True), + PythonProcess("deleter", "system.loggerd.deleter", offroad=True), PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview), PythonProcess("laikad", "selfdrive.locationd.laikad"), - PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=TICI), + PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", enabled=TICI, onroad=False, callback=qcomgps), PythonProcess("navd", "selfdrive.navd.navd"), PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True), PythonProcess("paramsd", "selfdrive.locationd.paramsd"), - NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox), - PythonProcess("pigeond", "selfdrive.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox), + NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox), + PythonProcess("pigeond", "system.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox), PythonProcess("plannerd", "selfdrive.controls.plannerd"), PythonProcess("radard", "selfdrive.controls.radard"), PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True), PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True), PythonProcess("updated", "selfdrive.updated", enabled=not PC, onroad=False, offroad=True), - PythonProcess("uploader", "selfdrive.loggerd.uploader", offroad=True), + PythonProcess("uploader", "system.loggerd.uploader", offroad=True), PythonProcess("statsd", "selfdrive.statsd", offroad=True), # debug procs diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 7bbc1b3477..c7e0dc5d86 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -70,7 +70,7 @@ lenv.Program('_dmonitoringmodeld', [ if use_thneed and arch == "larch64" or GetOption('pc_thneed'): fn = File("models/supercombo").abspath - tinygrad_opts = ["NATIVE_EXPLOG=1", "VALIDHACKS=1", "OPTWG=1", "IMAGE=2", "GPU=1", "CLCACHE=0"] + tinygrad_opts = ["NATIVE_EXPLOG=1", "VALIDHACKS=1", "OPTLOCAL=1", "IMAGE=2", "GPU=1", "ENABLE_METHOD_CACHE=1"] if not GetOption('pc_thneed'): # use FLOAT16 on device for speed + don't cache the CL kernels for space tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"] diff --git a/selfdrive/modeld/models/README.md b/selfdrive/modeld/models/README.md index 6b704cbfa8..04964f3eab 100644 --- a/selfdrive/modeld/models/README.md +++ b/selfdrive/modeld/models/README.md @@ -2,7 +2,7 @@ To view the architecture of the ONNX networks, you can use [netron](https://netron.app/) ## Supercombo -### Supercombo input format (Full size: 393738 x float32) +### Supercombo input format (Full size: 799906 x float32) * **image stream** * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256 * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256 @@ -16,11 +16,11 @@ To view the architecture of the ONNX networks, you can use [netron](https://netr * Channel 4 represents the half-res U channel * Channel 5 represents the half-res V channel * **desire** - * one-hot encoded vector to command model to execute certain actions, bit only needs to be sent for 1 frame : 8 + * one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8 * **traffic convention** * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2 -* **recurrent state** - * The recurrent state vector that is fed back into the GRU for temporal context : 512 +* **feature buffer** + * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 128 ### Supercombo output format (Full size: XXX x float32) @@ -32,28 +32,31 @@ Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d0 * .dlc file is a pre-quantized model and only runs on qualcomm DSPs ### input format -* single image (640 * 320 * 3 in RGB): - * full input size is 6 * 640/2 * 320/2 = 307200 - * represented in YUV420 with 6 channels: - * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2] - * Channel 4 represents the half-res U channel - * Channel 5 represents the half-res V channel - * normalized, ranging from -1.0 to 1.0 +* single image W = 1440 H = 960 represented in planar YUV420 format: + * full input size is 1440 * 960 = 1382400 + * normalized ranging from 0.0 to 1.0 in float32 (onnx runner) or ranging from 0 to 255 in uint8 (snpe runner) +* camera calibration angles (roll, pitch, yaw) from liveCalibration: 3 x float32 inputs ### output format -* 39 x float32 outputs ([parsing example](https://github.com/commaai/openpilot/blob/master/selfdrive/modeld/models/dmonitoring.cc#L165)) - * face pose: 12 = 6 + 6 - * face orientation [pitch, yaw, roll] in camera frame: 3 - * face position [dx, dy] relative to image center: 2 - * normalized face size: 1 - * standard deviations for above outputs: 6 - * face visible probability: 1 - * eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1 - * eye position and size, and their standard deviations: 8 - * eye visible probability: 1 - * eye closed probability: 1 - * wearing sunglasses probability: 1 - * poor camera vision probability: 1 - * face partially out-of-frame probability: 1 - * (deprecated) distracted probabilities: 2 - * face covered probability: 1 +* 84 x float32 outputs = 2 + 41 * 2 ([parsing example](https://github.com/commaai/openpilot/blob/22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38/selfdrive/modeld/models/dmonitoring.cc#L33)) + * for each person in the front seats (2 * 41) + * face pose: 12 = 6 + 6 + * face orientation [pitch, yaw, roll] in camera frame: 3 + * face position [dx, dy] relative to image center: 2 + * normalized face size: 1 + * standard deviations for above outputs: 6 + * face visible probability: 1 + * eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1 + * eye position and size, and their standard deviations: 8 + * eye visible probability: 1 + * eye closed probability: 1 + * wearing sunglasses probability: 1 + * face occluded probability: 1 + * touching wheel probability: 1 + * paying attention probability: 1 + * (deprecated) distracted probabilities: 2 + * using phone probability: 1 + * distracted probability: 1 + * common outputs 2 + * poor camera vision probability: 1 + * left hand drive probability: 1 diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index ac101bfee7..5538d6ff9b 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -200,7 +200,7 @@ void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const ModelOutputMet } template -void fill_xyzt(cereal::ModelDataV2::XYZTData::Builder xyzt, const std::array &t, +void fill_xyzt(cereal::XYZTData::Builder xyzt, const std::array &t, const std::array &x, const std::array &y, const std::array &z) { xyzt.setT(to_kj_array_ptr(t)); xyzt.setX(to_kj_array_ptr(x)); @@ -209,7 +209,7 @@ void fill_xyzt(cereal::ModelDataV2::XYZTData::Builder xyzt, const std::array -void fill_xyzt(cereal::ModelDataV2::XYZTData::Builder xyzt, const std::array &t, +void fill_xyzt(cereal::XYZTData::Builder xyzt, const std::array &t, const std::array &x, const std::array &y, const std::array &z, const std::array &x_std, const std::array &y_std, const std::array &z_std) { fill_xyzt(xyzt, t, x, y, z); diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h index 5734c68cb9..2b0902d5cf 100644 --- a/selfdrive/modeld/models/driving.h +++ b/selfdrive/modeld/models/driving.h @@ -1,10 +1,5 @@ #pragma once -// gate this here -#define TEMPORAL -#define DESIRE -#define TRAFFIC_CONVENTION - #include #include @@ -17,6 +12,12 @@ #include "selfdrive/modeld/models/nav.h" #include "selfdrive/modeld/runners/run.h" +// gate this here +#define TEMPORAL +#define DESIRE +#define TRAFFIC_CONVENTION +#define NAV + constexpr int FEATURE_LEN = 128; constexpr int HISTORY_BUFFER_LEN = 99; constexpr int DESIRE_LEN = 8; diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index a483fa4db4..493f3285d6 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:736ddc08497d7596bae4d9515a8efb996676be80e67a6d34d632bb8af2ed3fa9 -size 45962515 +oid sha256:b8bf95f096b19cef1e473fb4f0caf5f727b74bbde23a642aa586036ad9824e55 +size 46076782 diff --git a/selfdrive/modeld/runners/onnxmodel.cc b/selfdrive/modeld/runners/onnxmodel.cc index 5616a6c9c7..a5a83bccdc 100644 --- a/selfdrive/modeld/runners/onnxmodel.cc +++ b/selfdrive/modeld/runners/onnxmodel.cc @@ -138,14 +138,14 @@ void ONNXModel::execute() { if (desire_input_buf != NULL) { pwrite(desire_input_buf, desire_state_size); } - if (nav_features_input_buf != NULL) { - pwrite(nav_features_input_buf, nav_features_size); + if (traffic_convention_input_buf != NULL) { + pwrite(traffic_convention_input_buf, traffic_convention_size); } if (driving_style_input_buf != NULL) { pwrite(driving_style_input_buf, driving_style_size); } - if (traffic_convention_input_buf != NULL) { - pwrite(traffic_convention_input_buf, traffic_convention_size); + if (nav_features_input_buf != NULL) { + pwrite(nav_features_input_buf, nav_features_size); } if (calib_input_buf != NULL) { pwrite(calib_input_buf, calib_size); diff --git a/selfdrive/modeld/runners/thneedmodel.cc b/selfdrive/modeld/runners/thneedmodel.cc index 4fdd7ca466..2ac3d64495 100644 --- a/selfdrive/modeld/runners/thneedmodel.cc +++ b/selfdrive/modeld/runners/thneedmodel.cc @@ -41,13 +41,13 @@ void ThneedModel::addExtra(float *extra_input_buf, int buf_size) { } void* ThneedModel::getInputBuf() { - if (use_extra && thneed->input_clmem.size() > 4) return &(thneed->input_clmem[4]); - else if (!use_extra && thneed->input_clmem.size() > 3) return &(thneed->input_clmem[3]); + if (use_extra && thneed->input_clmem.size() > 5) return &(thneed->input_clmem[5]); + else if (!use_extra && thneed->input_clmem.size() > 4) return &(thneed->input_clmem[4]); else return nullptr; } void* ThneedModel::getExtraBuf() { - if (thneed->input_clmem.size() > 3) return &(thneed->input_clmem[3]); + if (thneed->input_clmem.size() > 4) return &(thneed->input_clmem[4]); else return nullptr; } @@ -55,10 +55,10 @@ void ThneedModel::execute() { if (!recorded) { thneed->record = true; if (use_extra) { - float *inputs[5] = {recurrent, trafficConvention, desire, extra, input}; + float *inputs[6] = {recurrent, navFeatures, trafficConvention, desire, extra, input}; thneed->copy_inputs(inputs); } else { - float *inputs[4] = {recurrent, trafficConvention, desire, input}; + float *inputs[5] = {recurrent, navFeatures, trafficConvention, desire, input}; thneed->copy_inputs(inputs); } thneed->clexec(); @@ -68,12 +68,11 @@ void ThneedModel::execute() { recorded = true; } else { if (use_extra) { - float *inputs[5] = {recurrent, trafficConvention, desire, extra, input}; + float *inputs[6] = {recurrent, navFeatures, trafficConvention, desire, extra, input}; thneed->execute(inputs, output); } else { - float *inputs[4] = {recurrent, trafficConvention, desire, input}; + float *inputs[5] = {recurrent, navFeatures, trafficConvention, desire, input}; thneed->execute(inputs, output); } } } - diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index 35eee5b035..836ed9cc4f 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -3,10 +3,10 @@ import gc import cereal.messaging as messaging from cereal import car +from cereal import log from common.params import Params, put_bool_nonblocking from common.realtime import set_realtime_priority from selfdrive.controls.lib.events import Events -from selfdrive.locationd.calibrationd import Calibration from selfdrive.monitoring.driver_monitor import DriverStatus @@ -22,7 +22,7 @@ def dmonitoringd_thread(sm=None, pm=None): driver_status = DriverStatus(rhd_saved=Params().get_bool("IsRhdDetected")) - sm['liveCalibration'].calStatus = Calibration.INVALID + sm['liveCalibration'].calStatus = log.LiveCalibrationData.Status.invalid sm['liveCalibration'].rpyCalib = [0, 0, 0] sm['carState'].buttonEvents = [] sm['carState'].standstill = True diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript index 8a2c2a8a91..23b36adc0a 100644 --- a/selfdrive/navd/SConscript +++ b/selfdrive/navd/SConscript @@ -1,21 +1,20 @@ Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'transformations') -base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', - 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] - +map_env = qt_env.Clone() +libs = ['qt_widgets', 'qt_util', 'qmapboxgl', common, messaging, cereal, visionipc, transformations, + 'zmq', 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"] if arch == 'larch64': - base_libs.append('EGL') + libs.append('EGL') if arch in ['larch64', 'x86_64']: if arch == 'x86_64': - rpath = [Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath] - qt_env["RPATH"] += rpath + rpath = Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath + map_env["RPATH"] += [rpath, ] style_path = File("style.json").abspath - qt_env['CXXFLAGS'].append(f'-DSTYLE_PATH=\\"{style_path}\\"') - qt_libs = ["qt_widgets", "qt_util", "qmapboxgl"] + base_libs - - nav_src = ["main.cc", "map_renderer.cc"] - qt_env.Program("map_renderer", nav_src, LIBS=qt_libs + ['common', 'json11']) + map_env['CXXFLAGS'].append(f'-DSTYLE_PATH=\\"{style_path}\\"') - qt_env.SharedLibrary("map_renderer", ["map_renderer.cc"], LIBS=qt_libs + ['common', 'messaging']) + map_env["RPATH"].append(Dir('.').abspath) + map_env["LIBPATH"].append(Dir('.').abspath) + maplib = map_env.SharedLibrary("maprender", ["map_renderer.cc"], LIBS=libs) + map_env.Program("map_renderer", ["main.cc", ], LIBS=[maplib[0].get_path(), ] + libs) diff --git a/selfdrive/navd/main.cc b/selfdrive/navd/main.cc index b6eec10328..8cef07edcf 100644 --- a/selfdrive/navd/main.cc +++ b/selfdrive/navd/main.cc @@ -7,22 +7,12 @@ #include "selfdrive/navd/map_renderer.h" #include "system/hardware/hw.h" - - -void sigHandler(int s) { - qInfo() << "Shutting down"; - std::signal(s, SIG_DFL); - - qApp->quit(); -} - - int main(int argc, char *argv[]) { qInstallMessageHandler(swagLogMessageHandler); QApplication app(argc, argv); - std::signal(SIGINT, sigHandler); - std::signal(SIGTERM, sigHandler); + std::signal(SIGINT, sigTermHandler); + std::signal(SIGTERM, sigTermHandler); MapRenderer * m = new MapRenderer(get_mapbox_settings()); assert(m); diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc index 51676bb3a3..5c7e17cd51 100644 --- a/selfdrive/navd/map_renderer.cc +++ b/selfdrive/navd/map_renderer.cc @@ -11,11 +11,13 @@ #include "selfdrive/ui/qt/maps/map_helpers.h" const float DEFAULT_ZOOM = 13.5; // Don't go below 13 or features will start to disappear -const int HEIGHT = 512, WIDTH = 512; +const int HEIGHT = 256, WIDTH = 256; const int NUM_VIPC_BUFFERS = 4; const int EARTH_CIRCUMFERENCE_METERS = 40075000; +const int EARTH_RADIUS_METERS = 6378137; const int PIXELS_PER_TILE = 256; +const int MAP_OFFSET = 128; const bool TEST_MODE = getenv("MAP_RENDER_TEST_MODE"); const int LLK_DECIMATION = TEST_MODE ? 1 : 10; @@ -26,6 +28,14 @@ float get_zoom_level_for_scale(float lat, float meters_per_pixel) { return log2(num_tiles) - 1; } +QMapbox::Coordinate get_point_along_line(float lat, float lon, float bearing, float dist) { + float ang_dist = dist / EARTH_RADIUS_METERS; + float lat1 = DEG2RAD(lat), lon1 = DEG2RAD(lon), bearing1 = DEG2RAD(bearing); + float lat2 = asin(sin(lat1)*cos(ang_dist) + cos(lat1)*sin(ang_dist)*cos(bearing1)); + float lon2 = lon1 + atan2(sin(bearing1)*sin(ang_dist)*cos(lat1), cos(ang_dist)-sin(lat1)*sin(lat2)); + return QMapbox::Coordinate(RAD2DEG(lat2), RAD2DEG(lon2)); +} + MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_settings(settings) { QSurfaceFormat fmt; @@ -70,7 +80,7 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set if (online) { vipc_server.reset(new VisionIpcServer("navd")); - vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH/2, HEIGHT/2); + vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH, HEIGHT); vipc_server->start_listener(); pm.reset(new PubMaster({"navThumbnail", "mapRenderState"})); @@ -93,7 +103,8 @@ void MapRenderer::msgUpdate() { bool localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && pos.getValid(); if (localizer_valid && (sm->rcv_frame("liveLocationKalman") % LLK_DECIMATION) == 0) { - updatePosition(QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]), RAD2DEG(orientation.getValue()[2])); + float bearing = RAD2DEG(orientation.getValue()[2]); + updatePosition(get_point_along_line(pos.getValue()[0], pos.getValue()[1], bearing, MAP_OFFSET), bearing); // TODO: use the static rendering mode if (!loaded() && frame_id > 0) { @@ -177,12 +188,10 @@ void MapRenderer::publish(const double render_time) { uint8_t* dst = (uint8_t*)buf->addr; uint8_t* src = cap.bits(); - // RGB to greyscale and crop + // RGB to greyscale memset(dst, 128, buf->len); - for (int r = 0; r < HEIGHT/2; r++) { - for (int c = 0; c < WIDTH/2; c++) { - dst[r*WIDTH/2 + c] = src[((HEIGHT/4 + r)*WIDTH + (c+WIDTH/4)) * 3]; - } + for (int i = 0; i < WIDTH * HEIGHT; i++) { + dst[i] = src[i * 3]; } vipc_server->send(buf, &extra); diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py index 3239470b23..aa5682169f 100755 --- a/selfdrive/navd/map_renderer.py +++ b/selfdrive/navd/map_renderer.py @@ -10,12 +10,12 @@ from cffi import FFI from common.ffi_wrapper import suffix from common.basedir import BASEDIR -HEIGHT = WIDTH = SIZE = 512 +HEIGHT = WIDTH = SIZE = 256 METERS_PER_PIXEL = 2 def get_ffi(): - lib = os.path.join(BASEDIR, "selfdrive", "navd", "libmap_renderer" + suffix()) + lib = os.path.join(BASEDIR, "selfdrive", "navd", "libmaprender" + suffix()) ffi = FFI() ffi.cdef(""" diff --git a/selfdrive/statsd.py b/selfdrive/statsd.py index 7dc002727e..e64907149c 100755 --- a/selfdrive/statsd.py +++ b/selfdrive/statsd.py @@ -13,7 +13,7 @@ from system.swaglog import cloudlog from system.hardware import HARDWARE from common.file_helpers import atomic_write_in_dir from system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty -from selfdrive.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S +from system.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S class METRIC_TYPE: diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index 8cc996c28d..9fc80d8d72 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -2,19 +2,31 @@ import os import time from functools import wraps -from system.hardware import PC +import cereal.messaging as messaging +from common.params import Params from selfdrive.manager.process_config import managed_processes +from system.hardware import PC from system.version import training_version, terms_version def set_params_enabled(): - from common.params import Params + os.environ['PASSIVE'] = "0" + os.environ['REPLAY'] = "1" + os.environ['SKIP_FW_QUERY'] = "1" + os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019" + os.environ['LOGPRINT'] = "debug" + params = Params() params.put("HasAcceptedTerms", terms_version) params.put("CompletedTrainingVersion", training_version) params.put_bool("OpenpilotEnabledToggle", True) params.put_bool("Passive", False) + # valid calib + msg = messaging.new_message('liveCalibration') + msg.liveCalibration.validBlocks = 20 + msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0] + params.put("CalibrationParams", msg.to_bytes()) def phone_only(f): @wraps(f) diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index bd0556aa07..8febbf4022 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -99,13 +99,13 @@ class Plant: # Simulate model predicting slightly faster speed # this is to ensure lead policy is effective when model # does not predict slowdown in e2e mode - position = log.ModelDataV2.XYZTData.new_message() + position = log.XYZTData.new_message() position.x = [float(x) for x in (self.speed + 0.5) * np.array(T_IDXS)] model.modelV2.position = position - velocity = log.ModelDataV2.XYZTData.new_message() + velocity = log.XYZTData.new_message() velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(T_IDXS)] model.modelV2.velocity = velocity - acceleration = log.ModelDataV2.XYZTData.new_message() + acceleration = log.XYZTData.new_message() acceleration.x = [float(x) for x in np.zeros_like(T_IDXS)] model.modelV2.acceleration = acceleration diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py index c96e624421..48752d2222 100755 --- a/selfdrive/test/process_replay/compare_logs.py +++ b/selfdrive/test/process_replay/compare_logs.py @@ -70,7 +70,10 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non field_tolerances = {} default_tolerance = EPSILON if tolerance is None else tolerance - log1, log2 = (list(filter(lambda m: m.which() not in ignore_msgs, log)) for log in (log1, log2)) + log1, log2 = ( + sorted((m for m in log if m.which() not in ignore_msgs), key=lambda m: (m.logMonoTime, m.which())) + for log in (log1, log2) + ) if len(log1) != len(log2): cnt1 = Counter(m.which() for m in log1) @@ -80,7 +83,6 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non diff = [] for msg1, msg2 in zip(log1, log2): if msg1.which() != msg2.which(): - print(msg1.which(), msg2.which()) raise Exception("msgs not aligned between logs") msg1 = remove_ignored_fields(msg1, ignore_fields) diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index c64f522352..448c7b4291 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -ba947edbb131a2a36ced7c490dfcf3280ad5b167 +e3cf1856830902bede2d1c9ca3d0d60e5504ae20 diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 28fc9c452c..8f2f3e1bd6 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -1,25 +1,21 @@ #!/usr/bin/env python3 -import importlib import os -import sys -import threading import time import signal -from collections import namedtuple - -import capnp +from collections import OrderedDict +from dataclasses import dataclass, field +from typing import Dict, List, Optional, Callable import cereal.messaging as messaging -from cereal import car, log +from cereal import car from cereal.services import service_list from common.params import Params from common.timeout import Timeout from common.realtime import DT_CTRL from panda.python import ALTERNATIVE_EXPERIENCE from selfdrive.car.car_helpers import get_car, interfaces -from selfdrive.test.process_replay.helpers import OpenpilotPrefix -from selfdrive.manager.process import PythonProcess from selfdrive.manager.process_config import managed_processes +from selfdrive.test.process_replay.helpers import OpenpilotPrefix # Numpy gives different results based on CPU features after version 19 NUMPY_TOLERANCE = 1e-7 @@ -28,377 +24,402 @@ TIMEOUT = 15 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__)) FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/") -ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config', 'environ', 'subtest_name', "field_tolerances"], defaults=({}, {}, "", {})) - -def wait_for_event(evt): - if not evt.wait(TIMEOUT): - if threading.currentThread().getName() == "MainThread": - # tested process likely died. don't let test just hang - raise Exception(f"Timeout reached. Tested process {os.environ['PROC_NAME']} likely crashed.") +class ReplayContext: + def __init__(self, cfg): + self.proc_name = cfg.proc_name + self.pubs = cfg.pubs + self.drained_pub = cfg.drained_pub + assert(len(self.pubs) != 0 or self.drained_pub is not None) + + def __enter__(self): + messaging.toggle_fake_events(True) + messaging.set_fake_prefix(self.proc_name) + + if self.drained_pub is None: + self.events = OrderedDict() + for pub in self.pubs: + self.events[pub] = messaging.fake_event_handle(pub, enable=True) else: - # done testing this process, let it die - sys.exit(0) - - -class FakeSocket: - def __init__(self, wait=True): + self.events = {self.drained_pub: messaging.fake_event_handle(self.drained_pub, enable=True)} + + return self + + def __exit__(self, exc_type, exc_obj, exc_tb): + del self.events + + messaging.toggle_fake_events(False) + messaging.delete_fake_prefix() + + @property + def all_recv_called_events(self): + return [man.recv_called_event for man in self.events.values()] + + @property + def all_recv_ready_events(self): + return [man.recv_ready_event for man in self.events.values()] + + def send_sync(self, pm, endpoint, dat): + self.events[endpoint].recv_called_event.wait() + self.events[endpoint].recv_called_event.clear() + pm.send(endpoint, dat) + self.events[endpoint].recv_ready_event.set() + + def unlock_sockets(self): + expected_sets = len(self.events) + while expected_sets > 0: + index = messaging.wait_for_one_event(self.all_recv_called_events) + self.all_recv_called_events[index].clear() + self.all_recv_ready_events[index].set() + expected_sets -= 1 + + def wait_for_recv_called(self): + messaging.wait_for_one_event(self.all_recv_called_events) + + def wait_for_next_recv(self, end_of_cycle): + index = messaging.wait_for_one_event(self.all_recv_called_events) + if self.drained_pub is not None and end_of_cycle: + self.all_recv_called_events[index].clear() + self.all_recv_ready_events[index].set() + self.all_recv_called_events[index].wait() + + +@dataclass +class ProcessConfig: + proc_name: str + pubs: List[str] + subs: List[str] + ignore: List[str] + config_callback: Optional[Callable] + init_callback: Optional[Callable] + should_recv_callback: Optional[Callable] + tolerance: Optional[float] = None + environ: Dict[str, str] = field(default_factory=dict) + subtest_name: str = "" + field_tolerances: Dict[str, float] = field(default_factory=dict) + timeout: int = 30 + simulation: bool = True + drained_pub: Optional[str] = None + + +class DummySocket: + def __init__(self): self.data = [] - self.wait = wait - self.recv_called = threading.Event() - self.recv_ready = threading.Event() def receive(self, non_blocking=False): if non_blocking: return None - if self.wait: - self.recv_called.set() - wait_for_event(self.recv_ready) - self.recv_ready.clear() return self.data.pop() def send(self, data): - if self.wait: - wait_for_event(self.recv_called) - self.recv_called.clear() - self.data.append(data) - if self.wait: - self.recv_ready.set() - - def wait_for_recv(self): - wait_for_event(self.recv_called) - - -class DumbSocket: - def __init__(self, s=None): - if s is not None: - try: - dat = messaging.new_message(s) - except capnp.lib.capnp.KjException: # pylint: disable=c-extension-no-member - # lists - dat = messaging.new_message(s, 0) - - self.data = dat.to_bytes() - - def receive(self, non_blocking=False): - return self.data - - def send(self, dat): - pass - - -class FakeSubMaster(messaging.SubMaster): - def __init__(self, services, ignore_alive=None, ignore_avg_freq=None): - super().__init__(services, ignore_alive=ignore_alive, ignore_avg_freq=ignore_avg_freq, addr=None) - self.sock = {s: DumbSocket(s) for s in services} - self.update_called = threading.Event() - self.update_ready = threading.Event() - self.wait_on_getitem = False - - def __getitem__(self, s): - # hack to know when fingerprinting is done - if self.wait_on_getitem: - self.update_called.set() - wait_for_event(self.update_ready) - self.update_ready.clear() - return self.data[s] - - def update(self, timeout=-1): - self.update_called.set() - wait_for_event(self.update_ready) - self.update_ready.clear() - - def update_msgs(self, cur_time, msgs): - wait_for_event(self.update_called) - self.update_called.clear() - super().update_msgs(cur_time, msgs) - self.update_ready.set() - - def wait_for_update(self): - wait_for_event(self.update_called) - - -class FakePubMaster(messaging.PubMaster): - def __init__(self, services): # pylint: disable=super-init-not-called - self.data = {} - self.sock = {} - self.last_updated = None - for s in services: - try: - data = messaging.new_message(s) - except capnp.lib.capnp.KjException: - data = messaging.new_message(s, 0) - self.data[s] = data.as_reader() - self.sock[s] = DumbSocket() - self.send_called = threading.Event() - self.get_called = threading.Event() - - def send(self, s, dat): - self.last_updated = s - if isinstance(dat, bytes): - self.data[s] = log.Event.from_bytes(dat) - else: - self.data[s] = dat.as_reader() - self.send_called.set() - wait_for_event(self.get_called) - self.get_called.clear() - - def wait_for_msg(self): - wait_for_event(self.send_called) - self.send_called.clear() - dat = self.data[self.last_updated] - self.get_called.set() - return dat - -def fingerprint(msgs, fsm, can_sock, fingerprint): +def controlsd_fingerprint_callback(rc, pm, msgs, fingerprint): print("start fingerprinting") - fsm.wait_on_getitem = True - - # populate fake socket with data for fingerprinting - canmsgs = [msg for msg in msgs if msg.which() == "can"] - wait_for_event(can_sock.recv_called) - can_sock.recv_called.clear() - can_sock.data = [msg.as_builder().to_bytes() for msg in canmsgs[:300]] - can_sock.recv_ready.set() - can_sock.wait = False + params = Params() + canmsgs = [msg for msg in msgs if msg.which() == "can"][:300] - # we know fingerprinting is done when controlsd sets sm['lateralPlan'].sensorValid - wait_for_event(fsm.update_called) - fsm.update_called.clear() + # controlsd expects one arbitrary can and pandaState + rc.send_sync(pm, "can", messaging.new_message("can", 1)) + pm.send("pandaStates", messaging.new_message("pandaStates", 1)) + rc.send_sync(pm, "can", messaging.new_message("can", 1)) + rc.wait_for_next_recv(True) - fsm.wait_on_getitem = False - can_sock.wait = True - can_sock.data = [] + # fingerprinting is done, when CarParams is set + while params.get("CarParams") is None: + if len(canmsgs) == 0: + raise ValueError("Fingerprinting failed. Run out of can msgs") - fsm.update_ready.set() + m = canmsgs.pop(0) + rc.send_sync(pm, "can", m.as_builder().to_bytes()) + rc.wait_for_next_recv(False) -def get_car_params(msgs, fsm, can_sock, fingerprint): +def get_car_params_callback(rc, pm, msgs, fingerprint): if fingerprint: CarInterface, _, _ = interfaces[fingerprint] CP = CarInterface.get_non_essential_params(fingerprint) else: - can = FakeSocket(wait=False) - sendcan = FakeSocket(wait=False) + can = DummySocket() + sendcan = DummySocket() - canmsgs = [msg for msg in msgs if msg.which() == 'can'] + canmsgs = [msg for msg in msgs if msg.which() == "can"] for m in canmsgs[:300]: can.send(m.as_builder().to_bytes()) _, CP = get_car(can, sendcan, Params().get_bool("ExperimentalLongitudinalEnabled")) Params().put("CarParams", CP.to_bytes()) -def controlsd_rcv_callback(msg, CP, cfg, fsm): +def controlsd_rcv_callback(msg, cfg, frame): # no sendcan until controlsd is initialized - socks = [s for s in cfg.pub_sub[msg.which()] if - (fsm.frame + 1) % int(service_list[msg.which()].frequency / service_list[s].frequency) == 0] - if "sendcan" in socks and fsm.frame < 2000: - socks.remove("sendcan") - return socks, len(socks) > 0 - - -def radar_rcv_callback(msg, CP, cfg, fsm): if msg.which() != "can": - return [], False - elif CP.radarUnavailable: - return ["radarState", "liveTracks"], True + return False - radar_msgs = {"honda": [0x445], "toyota": [0x19f, 0x22f], "gm": [0x474], - "chrysler": [0x2d4]}.get(CP.carName, None) + socks = [ + s for s in cfg.subs if + frame % int(service_list[msg.which()].frequency / service_list[s].frequency) == 0 + ] + if "sendcan" in socks and (frame - 1) < 2000: + socks.remove("sendcan") + return len(socks) > 0 - if radar_msgs is None: - raise NotImplementedError - for m in msg.can: - if m.src == 1 and m.address in radar_msgs: - return ["radarState", "liveTracks"], True - return [], False +def radar_rcv_callback(msg, cfg, frame): + return msg.which() == "can" -def calibration_rcv_callback(msg, CP, cfg, fsm): +def calibration_rcv_callback(msg, cfg, frame): # calibrationd publishes 1 calibrationData every 5 cameraOdometry packets. # should_recv always true to increment frame - recv_socks = [] - frame = fsm.frame + 1 # incrementing hasn't happened yet in SubMaster - if frame == 0 or (msg.which() == 'cameraOdometry' and (frame % 5) == 0): - recv_socks = ["liveCalibration"] - return recv_socks, fsm.frame == 0 or msg.which() == 'cameraOdometry' + return (frame - 1) == 0 or msg.which() == 'cameraOdometry' -def torqued_rcv_callback(msg, CP, cfg, fsm): +def torqued_rcv_callback(msg, cfg, frame): # should_recv always true to increment frame - recv_socks = [] - frame = fsm.frame + 1 # incrementing hasn't happened yet in SubMaster - if msg.which() == 'liveLocationKalman' and (frame % 5) == 0: - recv_socks = ["liveTorqueParameters"] - return recv_socks, fsm.frame == 0 or msg.which() == 'liveLocationKalman' - - -def ublox_rcv_callback(msg): - msg_class, msg_id = msg.ubloxRaw[2:4] - if (msg_class, msg_id) in {(1, 7 * 16)}: - return ["gpsLocationExternal"] - elif (msg_class, msg_id) in {(2, 1 * 16 + 5), (10, 9)}: - return ["ubloxGnss"] - else: - return [] + return (frame - 1) == 0 or msg.which() == 'liveLocationKalman' -def laika_rcv_callback(msg, CP, cfg, fsm): - if msg.which() == 'ubloxGnss' and msg.ubloxGnss.which() == "measurementReport": - return ["gnssMeasurements"], True - elif msg.which() == 'qcomGnss' and msg.qcomGnss.which() == "drMeasurementReport": - return ["gnssMeasurements"], True - else: - return [], False +class FrequencyBasedRcvCallback: + def __init__(self, trigger_msg_type): + self.trigger_msg_type = trigger_msg_type + + def __call__(self, msg, cfg, frame): + if msg.which() != self.trigger_msg_type: + return False + + resp_sockets = [ + s for s in cfg.subs + if frame % max(1, int(service_list[msg.which()].frequency / service_list[s].frequency)) == 0 + ] + return bool(len(resp_sockets)) + + +def laikad_config_pubsub_callback(params, cfg): + ublox = params.get_bool("UbloxAvailable") + drained_key = "ubloxGnss" if ublox else "qcomGnss" + sub_keys = ({"qcomGnss", } if ublox else {"ubloxGnss", }) + + return set(cfg.pubs) - sub_keys, drained_key + + +def locationd_config_pubsub_callback(params, cfg): + ublox = params.get_bool("UbloxAvailable") + sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", }) + + return set(cfg.pubs) - sub_keys, None CONFIGS = [ ProcessConfig( proc_name="controlsd", - pub_sub={ - "can": ["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"], - "deviceState": [], "pandaStates": [], "peripheralState": [], "liveCalibration": [], "driverMonitoringState": [], - "longitudinalPlan": [], "lateralPlan": [], "liveLocationKalman": [], "liveParameters": [], "radarState": [], - "modelV2": [], "driverCameraState": [], "roadCameraState": [], "wideRoadCameraState": [], "managerState": [], - "testJoystick": [], "liveTorqueParameters": [], - }, + pubs=[ + "can", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState", + "longitudinalPlan", "lateralPlan", "liveLocationKalman", "liveParameters", "radarState", + "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", + "testJoystick", "liveTorqueParameters" + ], + subs=["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"], ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"], - init_callback=fingerprint, + config_callback=None, + init_callback=controlsd_fingerprint_callback, should_recv_callback=controlsd_rcv_callback, tolerance=NUMPY_TOLERANCE, - fake_pubsubmaster=True, - submaster_config={ - 'ignore_avg_freq': ['radarState', 'longitudinalPlan', 'driverCameraState', 'driverMonitoringState'], # dcam is expected at 20 Hz - 'ignore_alive': ['wideRoadCameraState'], # TODO: Add to regen - } + simulation=False, + drained_pub="can", ), ProcessConfig( proc_name="radard", - pub_sub={ - "can": ["radarState", "liveTracks"], - "liveParameters": [], "carState": [], "modelV2": [], - }, + pubs=["can", "carState", "modelV2"], + subs=["radarState", "liveTracks"], ignore=["logMonoTime", "valid", "radarState.cumLagMs"], - init_callback=get_car_params, + config_callback=None, + init_callback=get_car_params_callback, should_recv_callback=radar_rcv_callback, - tolerance=None, - fake_pubsubmaster=True, + drained_pub="can", ), ProcessConfig( proc_name="plannerd", - pub_sub={ - "modelV2": ["lateralPlan", "longitudinalPlan"], - "carControl": [], "carState": [], "controlsState": [], "radarState": [], - }, + pubs=["modelV2", "carControl", "carState", "controlsState", "radarState"], + subs=["lateralPlan", "longitudinalPlan", "uiPlan"], ignore=["logMonoTime", "valid", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime", "lateralPlan.solverExecutionTime"], - init_callback=get_car_params, - should_recv_callback=None, + config_callback=None, + init_callback=get_car_params_callback, + should_recv_callback=FrequencyBasedRcvCallback("modelV2"), tolerance=NUMPY_TOLERANCE, - fake_pubsubmaster=True, ), ProcessConfig( proc_name="calibrationd", - pub_sub={ - "carState": ["liveCalibration"], - "cameraOdometry": [], - "carParams": [], - }, + pubs=["carState", "cameraOdometry", "carParams"], + subs=["liveCalibration"], ignore=["logMonoTime", "valid"], - init_callback=get_car_params, + config_callback=None, + init_callback=get_car_params_callback, should_recv_callback=calibration_rcv_callback, - tolerance=None, - fake_pubsubmaster=True, ), ProcessConfig( proc_name="dmonitoringd", - pub_sub={ - "driverStateV2": ["driverMonitoringState"], - "liveCalibration": [], "carState": [], "modelV2": [], "controlsState": [], - }, + pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "controlsState"], + subs=["driverMonitoringState"], ignore=["logMonoTime", "valid"], - init_callback=get_car_params, - should_recv_callback=None, + config_callback=None, + init_callback=get_car_params_callback, + should_recv_callback=FrequencyBasedRcvCallback("driverStateV2"), tolerance=NUMPY_TOLERANCE, - fake_pubsubmaster=True, ), ProcessConfig( proc_name="locationd", - pub_sub={ - "cameraOdometry": ["liveLocationKalman"], - "accelerometer": [], "gyroscope": [], - "gpsLocationExternal": [], "liveCalibration": [], "carState": [], - }, + pubs=[ + "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal", + "liveCalibration", "carState", "carParams", "gpsLocation" + ], + subs=["liveLocationKalman"], ignore=["logMonoTime", "valid"], - init_callback=get_car_params, + config_callback=locationd_config_pubsub_callback, + init_callback=get_car_params_callback, should_recv_callback=None, tolerance=NUMPY_TOLERANCE, - fake_pubsubmaster=False, ), ProcessConfig( proc_name="paramsd", - pub_sub={ - "liveLocationKalman": ["liveParameters"], - "carState": [] - }, + pubs=["liveLocationKalman", "carState"], + subs=["liveParameters"], ignore=["logMonoTime", "valid"], - init_callback=get_car_params, - should_recv_callback=None, + config_callback=None, + init_callback=get_car_params_callback, + should_recv_callback=FrequencyBasedRcvCallback("liveLocationKalman"), tolerance=NUMPY_TOLERANCE, - fake_pubsubmaster=True, ), ProcessConfig( proc_name="ubloxd", - pub_sub={ - "ubloxRaw": ["ubloxGnss", "gpsLocationExternal"], - }, + pubs=["ubloxRaw"], + subs=["ubloxGnss", "gpsLocationExternal"], ignore=["logMonoTime"], + config_callback=None, init_callback=None, - should_recv_callback=ublox_rcv_callback, - tolerance=None, - fake_pubsubmaster=False, + should_recv_callback=None, ), ProcessConfig( proc_name="laikad", - pub_sub={ - "ubloxGnss": ["gnssMeasurements"], - "qcomGnss": ["gnssMeasurements"], - "clocks": [] - }, + pubs=["ubloxGnss", "qcomGnss"], + subs=["gnssMeasurements"], ignore=["logMonoTime"], - init_callback=get_car_params, - should_recv_callback=laika_rcv_callback, + config_callback=laikad_config_pubsub_callback, + init_callback=get_car_params_callback, + should_recv_callback=None, tolerance=NUMPY_TOLERANCE, - fake_pubsubmaster=True, + timeout=60*10, # first messages are blocked on internet assistance + drained_pub="ubloxGnss", # config_callback will switch this to qcom if needed ), ProcessConfig( proc_name="torqued", - pub_sub={ - "liveLocationKalman": ["liveTorqueParameters"], - "carState": [], "controlsState": [], - }, + pubs=["liveLocationKalman", "carState", "carControl"], + subs=["liveTorqueParameters"], ignore=["logMonoTime"], - init_callback=get_car_params, + config_callback=None, + init_callback=get_car_params_callback, should_recv_callback=torqued_rcv_callback, tolerance=NUMPY_TOLERANCE, - fake_pubsubmaster=True, ), ] +def get_process_config(name): + try: + return next(c for c in CONFIGS if c.proc_name == name) + except StopIteration as ex: + raise Exception(f"Cannot find process config with name: {name}") from ex + + def replay_process(cfg, lr, fingerprint=None): with OpenpilotPrefix(): - if cfg.fake_pubsubmaster: - return python_replay_process(cfg, lr, fingerprint) + controlsState = None + initialized = False + if cfg.proc_name == "controlsd": + for msg in lr: + if msg.which() == "controlsState": + controlsState = msg.controlsState + if initialized: + break + elif msg.which() == "carEvents": + initialized = car.CarEvent.EventName.controlsInitializing not in [e.name for e in msg.carEvents] + + assert controlsState is not None and initialized, "controlsState never initialized" + + if fingerprint is not None: + setup_env(cfg=cfg, controlsState=controlsState, lr=lr, fingerprint=fingerprint) else: - return cpp_replay_process(cfg, lr, fingerprint) + CP = next((m.carParams for m in lr if m.which() == "carParams"), None) + assert CP is not None or "carParams" not in cfg.pubs, "carParams are missing and process needs it" + setup_env(CP=CP, cfg=cfg, controlsState=controlsState, lr=lr) + + if cfg.config_callback is not None: + params = Params() + cfg.pubs, cfg.drained_pub = cfg.config_callback(params, cfg) + + all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime) + pub_msgs = [msg for msg in all_msgs if msg.which() in set(cfg.pubs)] + + with ReplayContext(cfg) as rc: + pm = messaging.PubMaster(cfg.pubs) + sockets = {s: messaging.sub_sock(s, timeout=100) for s in cfg.subs} + + managed_processes[cfg.proc_name].prepare() + managed_processes[cfg.proc_name].start() + + if cfg.init_callback is not None: + cfg.init_callback(rc, pm, all_msgs, fingerprint) + + log_msgs, msg_queue = [], [] + try: + # Wait for process to startup + with Timeout(10, error_msg=f"timed out waiting for process to start: {repr(cfg.proc_name)}"): + while not all(pm.all_readers_updated(s) for s in cfg.pubs): + time.sleep(0) + + # Do the replay + cnt = 0 + for msg in pub_msgs: + with Timeout(cfg.timeout, error_msg=f"timed out testing process {repr(cfg.proc_name)}, {cnt}/{len(pub_msgs)} msgs done"): + resp_sockets, end_of_cycle = cfg.subs, True + if cfg.should_recv_callback is not None: + end_of_cycle = cfg.should_recv_callback(msg, cfg, cnt) + + msg_queue.append(msg) + if end_of_cycle: + rc.wait_for_recv_called() + + # call recv to let sub-sockets reconnect, after we know the process is ready + if cnt == 0: + for s in sockets.values(): + messaging.recv_one_or_none(s) + for m in msg_queue: + pm.send(m.which(), m.as_builder()) + msg_queue = [] + + rc.unlock_sockets() + rc.wait_for_next_recv(True) + + for s in resp_sockets: + ms = messaging.drain_sock(sockets[s]) + for m in ms: + m = m.as_builder() + m.logMonoTime = msg.logMonoTime + log_msgs.append(m.as_reader()) + cnt += 1 + assert(managed_processes[cfg.proc_name].proc.is_alive()) + finally: + managed_processes[cfg.proc_name].signal(signal.SIGKILL) + managed_processes[cfg.proc_name].stop() + + return log_msgs + + +def setup_env(CP=None, cfg=None, controlsState=None, lr=None, fingerprint=None): + os.environ["PARAMS_ROOT"] = "/dev/shm/params" -def setup_env(simulation=False, CP=None, cfg=None, controlsState=None): params = Params() params.clear_all() params.put_bool("OpenpilotEnabledToggle", True) @@ -406,14 +427,20 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None): params.put_bool("DisengageOnAccelerator", True) params.put_bool("WideCameraOnly", False) params.put_bool("DisableLogging", False) - params.put_bool("UbloxAvailable", True) - params.put_bool("ObdMultiplexingDisabled", True) os.environ["NO_RADAR_SLEEP"] = "1" os.environ["REPLAY"] = "1" - os.environ['SKIP_FW_QUERY'] = "" - os.environ['FINGERPRINT'] = "" + if fingerprint is not None: + os.environ['SKIP_FW_QUERY'] = "1" + os.environ['FINGERPRINT'] = fingerprint + else: + os.environ["SKIP_FW_QUERY"] = "" + os.environ["FINGERPRINT"] = "" + if lr is not None: + services = {m.which() for m in lr} + params.put_bool("UbloxAvailable", "ubloxGnss" in services) + if cfg is not None: # Clear all custom processConfig environment variables for config in CONFIGS: @@ -424,7 +451,7 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None): os.environ.update(cfg.environ) os.environ['PROC_NAME'] = cfg.proc_name - if simulation: + if cfg is not None and cfg.simulation: os.environ["SIMULATION"] = "1" elif "SIMULATION" in os.environ: del os.environ["SIMULATION"] @@ -440,158 +467,18 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None): if CP.alternativeExperience == ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS: params.put_bool("DisengageOnAccelerator", False) - if CP.fingerprintSource == "fw": - params.put("CarParamsCache", CP.as_builder().to_bytes()) - else: - os.environ['SKIP_FW_QUERY'] = "1" - os.environ['FINGERPRINT'] = CP.carFingerprint + if fingerprint is None: + if CP.fingerprintSource == "fw": + params.put("CarParamsCache", CP.as_builder().to_bytes()) + os.environ['SKIP_FW_QUERY'] = "" + os.environ['FINGERPRINT'] = "" + else: + os.environ['SKIP_FW_QUERY'] = "1" + os.environ['FINGERPRINT'] = CP.carFingerprint if CP.openpilotLongitudinalControl: params.put_bool("ExperimentalLongitudinalEnabled", True) - # controlsd process configuration assume all routes are out of dashcam - params.put_bool("DashcamOverride", True) - - -def python_replay_process(cfg, lr, fingerprint=None): - sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub] - pub_sockets = [s for s in cfg.pub_sub.keys() if s != 'can'] - - fsm = FakeSubMaster(pub_sockets, **cfg.submaster_config) - fpm = FakePubMaster(sub_sockets) - args = (fsm, fpm) - if 'can' in list(cfg.pub_sub.keys()): - can_sock = FakeSocket() - args = (fsm, fpm, can_sock) - - all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime) - pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())] - - # laikad needs decision between submaster ubloxGnss and qcomGnss, prio given to ubloxGnss - if cfg.proc_name == "laikad": - args = (*args, not any(m.which() == "ubloxGnss" for m in pub_msgs)) - service = "qcomGnss" if args[2] else "ubloxGnss" - pub_msgs = [m for m in pub_msgs if m.which() == service or m.which() == 'clocks'] - - controlsState = None - initialized = False - for msg in lr: - if msg.which() == 'controlsState': - controlsState = msg.controlsState - if initialized: - break - elif msg.which() == 'carEvents': - initialized = car.CarEvent.EventName.controlsInitializing not in [e.name for e in msg.carEvents] - - assert controlsState is not None and initialized, "controlsState never initialized" - - if fingerprint is not None: - os.environ['SKIP_FW_QUERY'] = "1" - os.environ['FINGERPRINT'] = fingerprint - setup_env(cfg=cfg, controlsState=controlsState) - else: - CP = [m for m in lr if m.which() == 'carParams'][0].carParams - setup_env(CP=CP, cfg=cfg, controlsState=controlsState) - - assert(type(managed_processes[cfg.proc_name]) is PythonProcess) - managed_processes[cfg.proc_name].prepare() - mod = importlib.import_module(managed_processes[cfg.proc_name].module) - - thread = threading.Thread(target=mod.main, args=args) - thread.daemon = True - thread.start() - - if cfg.init_callback is not None: - if 'can' not in list(cfg.pub_sub.keys()): - can_sock = None - cfg.init_callback(all_msgs, fsm, can_sock, fingerprint) - - CP = car.CarParams.from_bytes(Params().get("CarParams", block=True)) - - # wait for started process to be ready - if 'can' in list(cfg.pub_sub.keys()): - can_sock.wait_for_recv() - else: - fsm.wait_for_update() - - log_msgs, msg_queue = [], [] - for msg in pub_msgs: - if cfg.should_recv_callback is not None: - recv_socks, should_recv = cfg.should_recv_callback(msg, CP, cfg, fsm) - else: - recv_socks = [s for s in cfg.pub_sub[msg.which()] if - (fsm.frame + 1) % int(service_list[msg.which()].frequency / service_list[s].frequency) == 0] - should_recv = bool(len(recv_socks)) - - if msg.which() == 'can': - can_sock.send(msg.as_builder().to_bytes()) - else: - msg_queue.append(msg.as_builder()) - - if should_recv: - fsm.update_msgs(msg.logMonoTime / 1e9, msg_queue) - msg_queue = [] - - recv_cnt = len(recv_socks) - while recv_cnt > 0: - m = fpm.wait_for_msg().as_builder() - m.logMonoTime = msg.logMonoTime - m = m.as_reader() - - log_msgs.append(m) - recv_cnt -= m.which() in recv_socks - return log_msgs - - -def cpp_replay_process(cfg, lr, fingerprint=None): - sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub] # We get responses here - pm = messaging.PubMaster(cfg.pub_sub.keys()) - - all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime) - pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())] - log_msgs = [] - - # We need to fake SubMaster alive since we can't inject a fake clock - setup_env(simulation=True, cfg=cfg) - - managed_processes[cfg.proc_name].prepare() - managed_processes[cfg.proc_name].start() - - try: - with Timeout(TIMEOUT, error_msg=f"timed out testing process {repr(cfg.proc_name)}"): - while not all(pm.all_readers_updated(s) for s in cfg.pub_sub.keys()): - time.sleep(0) - - # Make sure all subscribers are connected - sockets = {s: messaging.sub_sock(s, timeout=2000) for s in sub_sockets} - for s in sub_sockets: - messaging.recv_one_or_none(sockets[s]) - - for i, msg in enumerate(pub_msgs): - pm.send(msg.which(), msg.as_builder()) - - resp_sockets = cfg.pub_sub[msg.which()] if cfg.should_recv_callback is None else cfg.should_recv_callback(msg) - for s in resp_sockets: - response = messaging.recv_one_retry(sockets[s]) - - if response is None: - print(f"Warning, no response received {i}") - else: - - response = response.as_builder() - response.logMonoTime = msg.logMonoTime - response = response.as_reader() - log_msgs.append(response) - - if not len(resp_sockets): # We only need to wait if we didn't already wait for a response - while not pm.all_readers_updated(msg.which()): - time.sleep(0) - finally: - managed_processes[cfg.proc_name].signal(signal.SIGKILL) - managed_processes[cfg.proc_name].stop() - - return log_msgs - def check_enabled(msgs): cur_enabled_count = 0 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 6884eb4660..52735b686b 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -8883c476d5abc12b4b2949e04c6d7c0cd7c8b9fa +29f846f525a4e14f380afd20ae8fa0804011ab6e \ No newline at end of file diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index c9f9c6c362..fbabc1bd29 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -14,12 +14,12 @@ from cereal.services import service_list from cereal.visionipc import VisionIpcServer, VisionStreamType from common.params import Params from common.realtime import Ratekeeper, DT_MDL, DT_DMON, sec_since_boot -from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, tici_f_frame_size, tici_d_frame_size +from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, tici_f_frame_size, tici_d_frame_size, tici_e_frame_size from panda.python import Panda from selfdrive.car.toyota.values import EPS_SCALE from selfdrive.manager.process import ensure_running from selfdrive.manager.process_config import managed_processes -from selfdrive.test.process_replay.process_replay import FAKEDATA, setup_env, check_enabled +from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, setup_env, check_enabled from selfdrive.test.update_ci_routes import upload_route from tools.lib.route import Route from tools.lib.framereader import FrameReader @@ -123,8 +123,9 @@ def replay_cameras(lr, frs, disable_tqdm=False): ("driverCameraState", DT_DMON, eon_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER, False), ] tici_cameras = [ - ("roadCameraState", DT_MDL, tici_f_frame_size, VisionStreamType.VISION_STREAM_ROAD, True), - ("driverCameraState", DT_MDL, tici_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER, False), + ("roadCameraState", DT_MDL, tici_f_frame_size, VisionStreamType.VISION_STREAM_ROAD, False), + ("wideRoadCameraState", DT_MDL, tici_e_frame_size, VisionStreamType.VISION_STREAM_WIDE_ROAD, False), + ("driverCameraState", DT_DMON, tici_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER, False), ] def replay_camera(s, stream, dt, vipc_server, frames, size, use_extra_client): @@ -232,7 +233,11 @@ def migrate_sensorEvents(lr, old_logtime=False): return all_msgs -def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False): + +def regen_segment(lr, frs=None, daemons="all", outdir=FAKEDATA, disable_tqdm=False): + if not isinstance(daemons, str) and not hasattr(daemons, "__iter__"): + raise ValueError("whitelist_proc must be a string or iterable") + lr = migrate_carparams(list(lr)) lr = migrate_sensorEvents(list(lr)) if frs is None: @@ -261,33 +266,67 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False): multiprocessing.Process(target=replay_service, args=('ubloxRaw', lr)), multiprocessing.Process(target=replay_panda_states, args=('pandaStates', lr)), ], - 'managerState': [ + 'manager': [ multiprocessing.Process(target=replay_manager_state, args=('managerState', lr)), ], 'thermald': [ multiprocessing.Process(target=replay_device_state, args=('deviceState', lr)), ], + 'rawgpsd': [ + multiprocessing.Process(target=replay_service, args=('qcomGnss', lr)), + multiprocessing.Process(target=replay_service, args=('gpsLocation', lr)), + ], 'camerad': [ *cam_procs, ], } + # TODO add configs for modeld, dmonitoringmodeld + fakeable_daemons = {} + for config in CONFIGS: + processes = [ + multiprocessing.Process(target=replay_service, args=(msg, lr)) + for msg in config.subs + ] + fakeable_daemons[config.proc_name] = processes + + additional_fake_daemons = {} + if daemons != "all": + additional_fake_daemons = fakeable_daemons + if isinstance(daemons, str): + raise ValueError(f"Invalid value for daemons: {daemons}") + + for d in daemons: + if d in fake_daemons: + raise ValueError(f"Running daemon {d} is not supported!") + + if d in fakeable_daemons: + del additional_fake_daemons[d] + + all_fake_daemons = {**fake_daemons, **additional_fake_daemons} try: # TODO: make first run of onnxruntime CUDA provider fast - managed_processes["modeld"].start() - managed_processes["dmonitoringmodeld"].start() + if "modeld" not in all_fake_daemons: + managed_processes["modeld"].start() + if "dmonitoringmodeld" not in all_fake_daemons: + managed_processes["dmonitoringmodeld"].start() time.sleep(5) # start procs up - ignore = list(fake_daemons.keys()) + ['ui', 'manage_athenad', 'uploader', 'soundd'] + ignore = list(all_fake_daemons.keys()) \ + + ['ui', 'manage_athenad', 'uploader', 'soundd', 'micd', 'navd'] + + print("Faked daemons:", ", ".join(all_fake_daemons.keys())) + print("Running daemons:", ", ".join([key for key in managed_processes.keys() if key not in ignore])) + ensure_running(managed_processes.values(), started=True, params=Params(), CP=car.CarParams(), not_run=ignore) - for procs in fake_daemons.values(): + for procs in all_fake_daemons.values(): for p in procs: p.start() for _ in tqdm(range(60), disable=disable_tqdm): # ensure all procs are running - for d, procs in fake_daemons.items(): + for d, procs in all_fake_daemons.items(): for p in procs: if not p.is_alive(): raise Exception(f"{d}'s {p.name} died") @@ -296,7 +335,7 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False): # kill everything for p in managed_processes.values(): p.stop() - for procs in fake_daemons.values(): + for procs in all_fake_daemons.values(): for p in procs: p.terminate() @@ -311,15 +350,28 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False): return seg_path -def regen_and_save(route, sidx, upload=False, use_route_meta=True, outdir=FAKEDATA, disable_tqdm=False): +def regen_and_save(route, sidx, daemons="all", upload=False, use_route_meta=False, outdir=FAKEDATA, disable_tqdm=False): if use_route_meta: r = Route(route) lr = LogReader(r.log_paths()[sidx]) fr = FrameReader(r.camera_paths()[sidx]) + if r.ecamera_paths()[sidx] is not None: + wfr = FrameReader(r.ecamera_paths()[sidx]) + else: + wfr = None else: lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2") fr = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc") - rpath = regen_segment(lr, {'roadCameraState': fr}, outdir=outdir, disable_tqdm=disable_tqdm) + device_type = next(iter(lr)).initData.deviceType + if device_type == 'tici': + wfr = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc") + else: + wfr = None + + frs = {'roadCameraState': fr} + if wfr is not None: + frs['wideRoadCameraState'] = wfr + rpath = regen_segment(lr, frs, daemons, outdir=outdir, disable_tqdm=disable_tqdm) # compress raw rlog before uploading with open(os.path.join(rpath, "rlog"), "rb") as f: @@ -342,9 +394,18 @@ def regen_and_save(route, sidx, upload=False, use_route_meta=True, outdir=FAKEDA if __name__ == "__main__": + def comma_separated_list(string): + if string == "all": + return string + return string.split(",") + parser = argparse.ArgumentParser(description="Generate new segments from old ones") parser.add_argument("--upload", action="store_true", help="Upload the new segment to the CI bucket") + parser.add_argument("--outdir", help="log output dir", default=FAKEDATA) + parser.add_argument("--whitelist-procs", type=comma_separated_list, default="all", + help="Comma-separated whitelist of processes to regen (e.g. controlsd). Pass 'all' to whitelist all processes.") parser.add_argument("route", type=str, help="The source route") parser.add_argument("seg", type=int, help="Segment in source route") args = parser.parse_args() - regen_and_save(args.route, args.seg, args.upload) + + regen_and_save(args.route, args.seg, args.whitelist_procs, args.upload, outdir=args.outdir) diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py index 28e0f70589..12f5fca37d 100755 --- a/selfdrive/test/process_replay/test_fuzzy.py +++ b/selfdrive/test/process_replay/test_fuzzy.py @@ -92,7 +92,6 @@ def get_strategy_for_events(event_types, finite=False): 'speedAccuracy': floats(width=32), }) r['LiveCalibration'] = st.fixed_dictionaries({ - 'calStatus': st.integers(min_value=0, max_value=1), 'rpyCalib': st.lists(floats(width=32), min_size=3, max_size=3), }) @@ -100,7 +99,7 @@ def get_strategy_for_events(event_types, finite=False): def get_strategy_for_process(process, finite=False): - return get_strategy_for_events(get_process_config(process).pub_sub.keys(), finite) + return get_strategy_for_events(get_process_config(process).pubs, finite) def convert_to_lr(msgs): diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 569090f606..deed1ec48f 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -18,21 +18,21 @@ from tools.lib.logreader import LogReader source_segments = [ ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA - ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), # HYUNDAI.KIA_EV6 + ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), # HYUNDAI.KIA_EV6 (+ QCOM GPS) ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS (INDI) ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 (LQR) ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2 ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.CIVIC (NIDEC) ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.ACCORD (BOSCH) ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.PACIFICA_2018_HYBRID - ("RAM", "2f4452b03ccb98f0|2022-09-07--13-55-08--10"), # CHRYSLER.RAM_1500 + ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"), # CHRYSLER.RAM_1500 ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.OUTBACK ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.VOLT ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.BOLT_EUV - ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1 ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.XTRAIL ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.GOLF ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.CX9_2021 + ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1 # Enable when port is tested and dashcamOnly is no longer set #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"), # TESLA.AP2_MODELS @@ -40,27 +40,27 @@ source_segments = [ ] segments = [ - ("BODY", "regenFA002A80700|2022-09-27--15-37-02--0"), - ("HYUNDAI", "regenBE53A59065B|2022-09-27--16-52-03--0"), - ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), - ("TOYOTA", "regen929C5790007|2022-09-27--16-27-47--0"), - ("TOYOTA2", "regenEA3950D7F22|2022-09-27--15-43-24--0"), - ("TOYOTA3", "regen89026F6BD8D|2022-09-27--15-45-37--0"), - ("HONDA", "regenC7D5645EB17|2022-09-27--15-47-29--0"), - ("HONDA2", "regenCC2ECCE5742|2022-09-27--16-18-01--0"), - ("CHRYSLER", "regenC253C4DAC90|2022-09-27--15-51-03--0"), - ("RAM", "regen20490083AE7|2022-09-27--15-53-15--0"), - ("SUBARU", "regen1E72BBDCED5|2022-09-27--15-55-31--0"), - ("GM", "regen45B05A80EF6|2022-09-27--15-57-22--0"), - ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), - ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), - ("NISSAN", "regenC19D899B46D|2022-09-27--15-59-13--0"), - ("VOLKSWAGEN", "regenD8F7AC4BD0D|2022-09-27--16-41-45--0"), - ("MAZDA", "regenFC3F9ECBB64|2022-09-27--16-03-09--0"), -] + ("BODY", "aregenECF15D9E559|2023-05-10--14-26-40--0"), + ("HYUNDAI", "aregenAB9F543F70A|2023-05-10--14-28-25--0"), + ("HYUNDAI2", "aregen39F5A028F96|2023-05-10--14-31-00--0"), + ("TOYOTA", "aregen8D6A8B36E8D|2023-05-10--14-32-38--0"), + ("TOYOTA2", "aregenB1933C49809|2023-05-10--14-34-14--0"), + ("TOYOTA3", "aregen5D9915223DC|2023-05-10--14-36-43--0"), + ("HONDA", "aregen484B732B675|2023-05-10--14-38-23--0"), + ("HONDA2", "aregenAF6ACED4713|2023-05-10--14-40-01--0"), + ("CHRYSLER", "aregen99B094E1E2E|2023-05-10--14-41-40--0"), + ("RAM", "aregen5C2487E1EEB|2023-05-10--14-44-09--0"), + ("SUBARU", "aregen98D277B792E|2023-05-10--14-46-46--0"), + ("GM", "aregen377BA28D848|2023-05-10--14-48-28--0"), + ("GM2", "aregen7CA0CC0F0C2|2023-05-10--14-51-00--0"), + ("NISSAN", "aregen7097BF01563|2023-05-10--14-52-43--0"), + ("VOLKSWAGEN", "aregen765AF3D2CB5|2023-05-10--14-54-23--0"), + ("MAZDA", "aregen3053762FF2E|2023-05-10--14-56-53--0"), + ("FORD", "aregenDDE0F89FA1E|2023-05-10--14-59-26--0"), + ] # dashcamOnly makes don't need to be tested until a full port is done -excluded_interfaces = ["mock", "ford", "mazda", "tesla"] +excluded_interfaces = ["mock", "mazda", "tesla"] BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit") @@ -71,7 +71,7 @@ def run_test_process(data): res = None if not args.upload_only: lr = LogReader.from_bytes(lr_dat) - res, log_msgs = test_process(cfg, lr, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs) + res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs) # save logs so we can upload when updating refs save_log(cur_log_fn, log_msgs) @@ -89,7 +89,7 @@ def get_log_data(segment): return (segment, f.read()) -def test_process(cfg, lr, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None): +def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None): if ignore_fields is None: ignore_fields = [] if ignore_msgs is None: @@ -97,7 +97,10 @@ def test_process(cfg, lr, ref_log_path, new_log_path, ignore_fields=None, ignore ref_log_msgs = list(LogReader(ref_log_path)) - log_msgs = replay_process(cfg, lr) + try: + log_msgs = replay_process(cfg, lr) + except Exception as e: + raise Exception("failed on segment: " + segment) from e # check to make sure openpilot is engaged in the route if cfg.proc_name == "controlsd": diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py index 732a69eebd..a0940b327b 100755 --- a/selfdrive/test/profiling/profiler.py +++ b/selfdrive/test/profiling/profiler.py @@ -25,7 +25,7 @@ CARS = { def get_inputs(msgs, process, fingerprint): for config in CONFIGS: if config.proc_name == process: - sub_socks = list(config.pub_sub.keys()) + sub_socks = list(config.pubs) trigger = sub_socks[0] break diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 4021e27de3..acc98c85d6 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -1,11 +1,14 @@ #!/usr/bin/env python3 +import math import json import os +import shutil import subprocess import time import numpy as np import unittest from collections import Counter, defaultdict +from functools import cached_property from pathlib import Path from cereal import car @@ -15,19 +18,19 @@ from common.basedir import BASEDIR from common.timeout import Timeout from common.params import Params from selfdrive.controls.lib.events import EVENTS, ET -from selfdrive.loggerd.config import ROOT +from system.loggerd.config import ROOT from selfdrive.test.helpers import set_params_enabled, release_only from tools.lib.logreader import LogReader # Baseline CPU usage by process PROCS = { "selfdrive.controls.controlsd": 39.0, - "./loggerd": 10.0, + "./loggerd": 14.0, "./encoderd": 17.0, "./camerad": 14.5, - "./locationd": 9.1, - "selfdrive.controls.plannerd": 11.7, - "./_ui": 19.2, + "./locationd": 11.0, + "selfdrive.controls.plannerd": 16.5, + "./_ui": 21.0, "selfdrive.locationd.paramsd": 9.0, "./_sensord": 12.0, "selfdrive.controls.radard": 4.5, @@ -45,6 +48,15 @@ PROCS = { "./ubloxd": 0.02, "selfdrive.tombstoned": 0, "./logcatd": 0, + "system.micd": 10.0, + "system.timezoned": 0, + "system.sensord.pigeond": 6.0, + "selfdrive.boardd.pandad": 0, + "selfdrive.statsd": 0.4, + "selfdrive.navd.navd": 0.4, + "system.loggerd.uploader": 3.0, + "system.loggerd.deleter": 0.1, + "selfdrive.locationd.laikad": None, # TODO: laikad cpu usage is sporadic } TIMINGS = { @@ -71,48 +83,6 @@ def cputime_total(ct): return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem -def check_cpu_usage(proclogs): - result = "\n" - result += "------------------------------------------------\n" - result += "------------------ CPU Usage -------------------\n" - result += "------------------------------------------------\n" - - plogs_by_proc = defaultdict(list) - for pl in proclogs: - for x in pl.procLog.procs: - if len(x.cmdline) > 0: - n = list(x.cmdline)[0] - plogs_by_proc[n].append(x) - - print(plogs_by_proc.keys()) - - r = True - dt = (proclogs[-1].logMonoTime - proclogs[0].logMonoTime) / 1e9 - for proc_name, expected_cpu in PROCS.items(): - err = "" - cpu_usage = 0. - x = plogs_by_proc[proc_name] - if len(x) > 2: - cpu_time = cputime_total(x[-1]) - cputime_total(x[0]) - cpu_usage = cpu_time / dt * 100. - if cpu_usage > max(expected_cpu * 1.15, expected_cpu + 5.0): - # cpu usage is high while playing sounds - if not (proc_name == "./_soundd" and cpu_usage < 65.): - err = "using more CPU than normal" - elif cpu_usage < min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0)): - err = "using less CPU than normal" - else: - err = "NO METRICS FOUND" - - result += f"{proc_name.ljust(35)} {cpu_usage:5.2f}% ({expected_cpu:5.2f}%) {err}\n" - if len(err) > 0: - r = False - - result += "------------------------------------------------\n" - print(result) - return r - - class TestOnroad(unittest.TestCase): @classmethod @@ -120,19 +90,16 @@ class TestOnroad(unittest.TestCase): if "DEBUG" in os.environ: segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(ROOT).iterdir()) segs = sorted(segs, key=lambda x: x.stat().st_mtime) - print(segs[-2]) - cls.lr = list(LogReader(os.path.join(segs[-2], "rlog"))) + print(segs[-3]) + cls.lr = list(LogReader(os.path.join(segs[-3], "rlog"))) return # setup env - os.environ['REPLAY'] = "1" - os.environ['SKIP_FW_QUERY'] = "1" - os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019" - os.environ['LOGPRINT'] = 'debug' - params = Params() params.clear_all() set_params_enabled() + if os.path.exists(ROOT): + shutil.rmtree(ROOT) # Make sure athena isn't running os.system("pkill -9 -f athena") @@ -177,6 +144,25 @@ class TestOnroad(unittest.TestCase): # use the second segment by default as it's the first full segment cls.lr = list(LogReader(os.path.join(str(cls.segments[1]), "rlog"))) + @cached_property + def service_msgs(self): + msgs = defaultdict(list) + for m in self.lr: + msgs[m.which()].append(m) + return msgs + + def test_service_frequencies(self): + for s, msgs in self.service_msgs.items(): + if s in ('initData', 'sentinel'): + continue + + # skip gps services for now + if s in ('ubloxGnss', 'ubloxRaw', 'gnssMeasurements', 'gpsLocationExternal'): + continue + + with self.subTest(service=s): + assert len(msgs) >= math.floor(service_list[s].frequency*55) + def test_cloudlog_size(self): msgs = [m for m in self.lr if m.which() == 'logMessage'] @@ -193,7 +179,7 @@ class TestOnroad(unittest.TestCase): result += "-------------- UI Draw Timing ------------------\n" result += "------------------------------------------------\n" - ts = [m.uiDebug.drawTimeMillis for m in self.lr if m.which() == 'uiDebug'] + ts = [m.uiDebug.drawTimeMillis for m in self.service_msgs['uiDebug']] result += f"min {min(ts):.2f}ms\n" result += f"max {max(ts):.2f}ms\n" result += f"std {np.std(ts):.2f}ms\n" @@ -201,15 +187,60 @@ class TestOnroad(unittest.TestCase): result += "------------------------------------------------\n" print(result) - self.assertGreater(len(ts), 20*50, "insufficient samples") #self.assertLess(max(ts), 30.) self.assertLess(np.mean(ts), 10.) #self.assertLess(np.std(ts), 5.) def test_cpu_usage(self): - proclogs = [m for m in self.lr if m.which() == 'procLog'] - self.assertGreater(len(proclogs), service_list['procLog'].frequency * 45, "insufficient samples") - cpu_ok = check_cpu_usage(proclogs) + result = "\n" + result += "------------------------------------------------\n" + result += "------------------ CPU Usage -------------------\n" + result += "------------------------------------------------\n" + + plogs_by_proc = defaultdict(list) + for pl in self.service_msgs['procLog']: + for x in pl.procLog.procs: + if len(x.cmdline) > 0: + n = list(x.cmdline)[0] + plogs_by_proc[n].append(x) + print(plogs_by_proc.keys()) + + cpu_ok = True + dt = (self.service_msgs['procLog'][-1].logMonoTime - self.service_msgs['procLog'][0].logMonoTime) / 1e9 + for proc_name, expected_cpu in PROCS.items(): + + err = "" + cpu_usage = 0. + x = plogs_by_proc[proc_name] + if len(x) > 2: + cpu_time = cputime_total(x[-1]) - cputime_total(x[0]) + cpu_usage = cpu_time / dt * 100. + + if expected_cpu is None: + result += f"{proc_name.ljust(35)} {cpu_usage:5.2f}% ({expected_cpu}) SKIPPED\n" + continue + elif cpu_usage > max(expected_cpu * 1.15, expected_cpu + 5.0): + # cpu usage is high while playing sounds + if not (proc_name == "./_soundd" and cpu_usage < 65.): + err = "using more CPU than normal" + elif cpu_usage < min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0)): + err = "using less CPU than normal" + else: + err = "NO METRICS FOUND" + + result += f"{proc_name.ljust(35)} {cpu_usage:5.2f}% ({expected_cpu:5.2f}%) {err}\n" + if len(err) > 0: + cpu_ok = False + + # Ensure there's no missing procs + all_procs = set([p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning]) + for p in all_procs: + with self.subTest(proc=p): + assert any(p in pp for pp in PROCS.keys()), f"Expected CPU usage missing for {p}" + + result += "------------------------------------------------\n" + print(result) + self.assertTrue(cpu_ok) def test_camera_processing_time(self): @@ -234,7 +265,7 @@ class TestOnroad(unittest.TestCase): cfgs = [("lateralPlan", 0.05, 0.05), ("longitudinalPlan", 0.05, 0.05)] for (s, instant_max, avg_max) in cfgs: - ts = [getattr(getattr(m, s), "solverExecutionTime") for m in self.lr if m.which() == s] + ts = [getattr(getattr(m, s), "solverExecutionTime") for m in self.service_msgs[s]] self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}") self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}") result += f"'{s}' execution time: min {min(ts):.5f}s\n" @@ -254,7 +285,7 @@ class TestOnroad(unittest.TestCase): ("driverStateV2", 0.050, 0.026), ] for (s, instant_max, avg_max) in cfgs: - ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.lr if m.which() == s] + ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.service_msgs[s]] self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}") self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}") result += f"'{s}' execution time: min {min(ts):.5f}s\n" @@ -270,7 +301,7 @@ class TestOnroad(unittest.TestCase): result += "----------------- Service Timings --------------\n" result += "------------------------------------------------\n" for s, (maxmin, rsd) in TIMINGS.items(): - msgs = [m.logMonoTime for m in self.lr if m.which() == s] + msgs = [m.logMonoTime for m in self.service_msgs[s]] if not len(msgs): raise Exception(f"missing {s}") @@ -305,6 +336,17 @@ class TestOnroad(unittest.TestCase): expected = EVENTS[car.CarEvent.EventName.startup][ET.PERMANENT].alert_text_1 self.assertEqual(startup_alert, expected, "wrong startup alert") + def test_engagable(self): + no_entries = Counter() + for m in self.service_msgs['carEvents']: + for evt in m.carEvents: + if evt.noEntry: + no_entries[evt.name] += 1 + + eng = [m.controlsState.engageable for m in self.service_msgs['controlsState']] + assert all(eng), \ + f"Not engageable for whole segment:\n- controlsState.engageable: {Counter(eng)}\n- No entry events: {no_entries}" + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py new file mode 100755 index 0000000000..5991250945 --- /dev/null +++ b/selfdrive/test/test_time_to_onroad.py @@ -0,0 +1,45 @@ +#!/usr/bin/env python3 +import os +import time +import subprocess + +import cereal.messaging as messaging +from common.basedir import BASEDIR +from common.timeout import Timeout +from selfdrive.test.helpers import set_params_enabled + + +def test_time_to_onroad(): + # launch + set_params_enabled() + manager_path = os.path.join(BASEDIR, "selfdrive/manager/manager.py") + proc = subprocess.Popen(["python", manager_path]) + + start_time = time.monotonic() + sm = messaging.SubMaster(['controlsState', 'deviceState']) + try: + # wait for onroad + with Timeout(20, "timed out waiting to go onroad"): + while True: + sm.update(1000) + if sm['deviceState'].started: + break + time.sleep(1) + + # wait for engageability + with Timeout(10, "timed out waiting for engageable"): + while True: + sm.update(1000) + if sm['controlsState'].engageable: + break + time.sleep(1) + print(f"engageable after {time.monotonic() - start_time:.2f}s") + + # once we're enageable, must be for the next few seconds + for _ in range(500): + sm.update(100) + assert sm['controlsState'].engageable + finally: + proc.terminate() + if proc.wait(60) is None: + proc.kill() diff --git a/selfdrive/test/test_valgrind_replay.py b/selfdrive/test/test_valgrind_replay.py index 238b822ec9..46dd4901e5 100755 --- a/selfdrive/test/test_valgrind_replay.py +++ b/selfdrive/test/test_valgrind_replay.py @@ -28,7 +28,7 @@ CONFIGS = [ }, ignore=[], command="./ubloxd", - path="selfdrive/locationd/", + path="system/ubloxd", segment="0375fdf7b1ce594d|2019-06-13--08-32-25--3", wait_for_response=True ), diff --git a/selfdrive/thermald/fan_controller.py b/selfdrive/thermald/fan_controller.py index 2094faeaa7..f3e822da51 100644 --- a/selfdrive/thermald/fan_controller.py +++ b/selfdrive/thermald/fan_controller.py @@ -8,7 +8,7 @@ from selfdrive.controls.lib.pid import PIDController class BaseFanController(ABC): @abstractmethod - def update(self, max_cpu_temp: float, ignition: bool) -> int: + def update(self, cur_temp: float, ignition: bool) -> int: pass @@ -18,19 +18,19 @@ class TiciFanController(BaseFanController): cloudlog.info("Setting up TICI fan handler") self.last_ignition = False - self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML)) + self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_TRML)) - def update(self, max_cpu_temp: float, ignition: bool) -> int: - self.controller.neg_limit = -(80 if ignition else 30) + def update(self, cur_temp: float, ignition: bool) -> int: + self.controller.neg_limit = -(100 if ignition else 30) self.controller.pos_limit = -(30 if ignition else 0) if ignition != self.last_ignition: self.controller.reset() - error = 70 - max_cpu_temp + error = 70 - cur_temp fan_pwr_out = -int(self.controller.update( error=error, - feedforward=interp(max_cpu_temp, [60.0, 100.0], [0, -80]) + feedforward=interp(cur_temp, [60.0, 100.0], [0, -100]) )) self.last_ignition = ignition diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index 85e9510eb7..06e2b5e8f9 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -17,6 +17,7 @@ VBATT_PAUSE_CHARGING = 11.8 # Lower limit on the LPF car battery volta VBATT_INSTANT_PAUSE_CHARGING = 7.0 # Lower limit on the instant car battery voltage measurements to avoid triggering on instant power loss MAX_TIME_OFFROAD_S = 30*3600 MIN_ON_TIME_S = 3600 +DELAY_SHUTDOWN_TIME_S = 300 # Wait at least DELAY_SHUTDOWN_TIME_S seconds after offroad_time to shutdown. VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 60 class PowerMonitoring: @@ -124,6 +125,7 @@ class PowerMonitoring: should_shutdown &= not ignition should_shutdown &= (not self.params.get_bool("DisablePowerDown")) should_shutdown &= in_car + should_shutdown &= offroad_time > DELAY_SHUTDOWN_TIME_S should_shutdown |= self.params.get_bool("ForcePowerDown") should_shutdown &= started_seen or (now > MIN_ON_TIME_S) return should_shutdown diff --git a/selfdrive/thermald/tests/test_fan_controller.py b/selfdrive/thermald/tests/test_fan_controller.py index 857866f64e..22d618485c 100755 --- a/selfdrive/thermald/tests/test_fan_controller.py +++ b/selfdrive/thermald/tests/test_fan_controller.py @@ -14,43 +14,43 @@ def patched_controller(controller_class): class TestFanController(unittest.TestCase): def wind_up(self, controller, ignition=True): for _ in range(1000): - controller.update(max_cpu_temp=100, ignition=ignition) + controller.update(100, ignition) def wind_down(self, controller, ignition=False): for _ in range(1000): - controller.update(max_cpu_temp=10, ignition=ignition) + controller.update(10, ignition) @parameterized.expand(ALL_CONTROLLERS) def test_hot_onroad(self, controller_class): controller = patched_controller(controller_class) self.wind_up(controller) - self.assertGreaterEqual(controller.update(max_cpu_temp=100, ignition=True), 70) + self.assertGreaterEqual(controller.update(100, True), 70) @parameterized.expand(ALL_CONTROLLERS) def test_offroad_limits(self, controller_class): controller = patched_controller(controller_class) self.wind_up(controller) - self.assertLessEqual(controller.update(max_cpu_temp=100, ignition=False), 30) + self.assertLessEqual(controller.update(100, False), 30) @parameterized.expand(ALL_CONTROLLERS) def test_no_fan_wear(self, controller_class): controller = patched_controller(controller_class) self.wind_down(controller) - self.assertEqual(controller.update(max_cpu_temp=10, ignition=False), 0) + self.assertEqual(controller.update(10, False), 0) @parameterized.expand(ALL_CONTROLLERS) def test_limited(self, controller_class): controller = patched_controller(controller_class) - self.wind_up(controller, ignition=True) - self.assertGreaterEqual(controller.update(max_cpu_temp=100, ignition=True), 80) + self.wind_up(controller, True) + self.assertEqual(controller.update(100, True), 100) @parameterized.expand(ALL_CONTROLLERS) def test_windup_speed(self, controller_class): controller = patched_controller(controller_class) - self.wind_down(controller, ignition=True) + self.wind_down(controller, True) for _ in range(10): - controller.update(max_cpu_temp=90, ignition=True) - self.assertGreaterEqual(controller.update(max_cpu_temp=90, ignition=True), 60) + controller.update(90, True) + self.assertGreaterEqual(controller.update(90, True), 60) if __name__ == "__main__": unittest.main() diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py index d41e92454b..6b1be2d7ef 100755 --- a/selfdrive/thermald/tests/test_power_monitoring.py +++ b/selfdrive/thermald/tests/test_power_monitoring.py @@ -15,7 +15,7 @@ def mock_sec_since_boot(): with patch("common.realtime.sec_since_boot", new=mock_sec_since_boot): with patch("common.params.put_nonblocking", new=params.put): from selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \ - CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING + CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S TEST_DURATION_S = 50 GOOD_VOLTAGE = 12 * 1e3 @@ -116,10 +116,9 @@ class TestPowerMonitoring(unittest.TestCase): self.assertFalse(pm.should_shutdown(ignition, True, start_time, False)) self.assertTrue(pm.should_shutdown(ignition, True, start_time, False)) - # Test to check policy of stopping charging when the car voltage is too low def test_car_voltage(self): POWER_DRAW = 0 # To stop shutting down for other reasons - TEST_TIME = 100 + TEST_TIME = 350 VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 50 with pm_patch("VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True), pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): pm = PowerMonitoring() @@ -130,8 +129,9 @@ class TestPowerMonitoring(unittest.TestCase): pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) if i % 10 == 0: self.assertEqual(pm.should_shutdown(ignition, True, start_time, True), - (pm.car_voltage_mV < VBATT_PAUSE_CHARGING*1e3 and - (ssb - start_time) > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S)) + (pm.car_voltage_mV < VBATT_PAUSE_CHARGING * 1e3 and + (ssb - start_time) > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S and + (ssb - start_time) > DELAY_SHUTDOWN_TIME_S)) self.assertTrue(pm.should_shutdown(ignition, True, start_time, True)) # Test to check policy of not stopping charging when DisablePowerDown is set @@ -177,6 +177,26 @@ class TestPowerMonitoring(unittest.TestCase): if i % 10 == 0: self.assertFalse(pm.should_shutdown(ignition, False, ssb, False)) self.assertFalse(pm.should_shutdown(ignition, False, ssb, False)) + + def test_delay_shutdown_time(self): + pm = PowerMonitoring() + pm.car_battery_capacity_uWh = 0 + ignition = False + in_car = True + offroad_timestamp = ssb + started_seen = True + pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) + + while ssb < offroad_timestamp + DELAY_SHUTDOWN_TIME_S: + self.assertFalse(pm.should_shutdown(ignition, in_car, + offroad_timestamp, + started_seen), + f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time") + self.assertTrue(pm.should_shutdown(ignition, in_car, + offroad_timestamp, + started_seen), + f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time") + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index eedeff31f1..57387e5186 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -18,7 +18,7 @@ from common.params import Params from common.realtime import DT_TRML, sec_since_boot from selfdrive.controls.lib.alertmanager import set_offroad_alert from system.hardware import HARDWARE, TICI, AGNOS -from selfdrive.loggerd.config import get_available_percent +from system.loggerd.config import get_available_percent from selfdrive.statsd import statlog from system.swaglog import cloudlog from selfdrive.thermald.power_monitoring import PowerMonitoring @@ -313,9 +313,6 @@ def thermald_thread(end_event, hw_queue): should_start = should_start and all(startup_conditions.values()) if should_start != should_start_prev or (count == 0): - params.put_bool("IsOnroad", should_start) - params.put_bool("IsOffroad", not should_start) - params.put_bool("IsEngaged", False) engaged_prev = False HARDWARE.set_power_save(not should_start) diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py index 61a575f141..65fb45b678 100755 --- a/selfdrive/tombstoned.py +++ b/selfdrive/tombstoned.py @@ -10,7 +10,7 @@ import glob from typing import NoReturn from common.file_helpers import mkdirs_exists_ok -from selfdrive.loggerd.config import ROOT +from system.loggerd.config import ROOT import selfdrive.sentry as sentry from system.swaglog import cloudlog from system.version import get_commit diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 0f28f5ccc3..a8c8463bd7 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -42,7 +42,6 @@ assets_src = "#selfdrive/assets/assets.qrc" qt_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET") qt_env.Depends(assets, Glob('#selfdrive/assets/*', exclude=[assets, assets_src, "#selfdrive/assets/assets.o"])) asset_obj = qt_env.Object("assets", assets) -Export('asset_obj') # build soundd qt_env.Program("soundd/_soundd", ["soundd/main.cc", "soundd/sound.cc"], LIBS=qt_libs) diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index 3f3c9a5885..2b8974f73a 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -102,11 +102,11 @@ void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) { OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { QVBoxLayout* main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(40, 40, 40, 45); + main_layout->setContentsMargins(40, 40, 40, 40); // top header QHBoxLayout* header_layout = new QHBoxLayout(); - header_layout->setContentsMargins(15, 15, 15, 0); + header_layout->setContentsMargins(0, 0, 0, 0); header_layout->setSpacing(16); update_notif = new QPushButton(tr("UPDATE")); @@ -130,27 +130,29 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { main_layout->addSpacing(25); center_layout = new QStackedLayout(); - // Vertical experimental button and drive stats layout - QWidget* statsAndExperimentalModeButtonWidget = new QWidget(this); - QVBoxLayout* statsAndExperimentalModeButton = new QVBoxLayout(statsAndExperimentalModeButtonWidget); - statsAndExperimentalModeButton->setSpacing(30); - statsAndExperimentalModeButton->setMargin(0); + QWidget *home_widget = new QWidget(this); + { + QHBoxLayout *home_layout = new QHBoxLayout(home_widget); + home_layout->setContentsMargins(0, 0, 0, 0); + home_layout->setSpacing(30); - ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this); - QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings); + // left: ExperimentalModeButton, DriveStats + QWidget* left_widget = new QWidget(this); + QVBoxLayout* left_column = new QVBoxLayout(left_widget); + left_column->setContentsMargins(0, 0, 0, 0); + left_column->setSpacing(30); - statsAndExperimentalModeButton->addWidget(experimental_mode, 1); - statsAndExperimentalModeButton->addWidget(new DriveStats, 1); + ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this); + QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings); + left_column->addWidget(experimental_mode, 1); + left_column->addWidget(new DriveStats, 1); - // Horizontal experimental + drive stats and setup widget - QWidget* statsAndSetupWidget = new QWidget(this); - QHBoxLayout* statsAndSetup = new QHBoxLayout(statsAndSetupWidget); - statsAndSetup->setMargin(0); - statsAndSetup->setSpacing(30); - statsAndSetup->addWidget(statsAndExperimentalModeButtonWidget, 1); - statsAndSetup->addWidget(new SetupWidget); + home_layout->addWidget(left_widget, 1); - center_layout->addWidget(statsAndSetupWidget); + // right: SetupWidget + home_layout->addWidget(new SetupWidget); + } + center_layout->addWidget(home_widget); // add update & alerts widgets update_widget = new UpdateAlert(); diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index dd30b5feff..abbf434d69 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -24,8 +24,6 @@ const float MAX_PITCH = 50; const float MIN_PITCH = 0; const float MAP_SCALE = 2; -const float VALID_POS_STD = 50.0; // m - const QString ICON_SUFFIX = ".png"; MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05) { @@ -125,42 +123,6 @@ void MapWindow::updateState(const UIState &s) { } } - // TODO should check a valid/status flag - if (sm.updated("gnssMeasurements") && sm["gnssMeasurements"].getGnssMeasurements().getGpsWeek() > 0){ - auto laikad_location = sm["gnssMeasurements"].getGnssMeasurements(); - auto laikad_pos = laikad_location.getPositionECEF(); - auto laikad_pos_ecef = laikad_pos.getValue(); - auto laikad_pos_std = laikad_pos.getStd(); - auto laikad_velocity_ecef = laikad_location.getVelocityECEF().getValue(); - - laikad_valid = laikad_pos.getValid() && Eigen::Vector3d(laikad_pos_std[0], laikad_pos_std[1], laikad_pos_std[2]).norm() < VALID_POS_STD; - - if (laikad_valid && !locationd_valid) { - ECEF ecef = {.x = laikad_pos_ecef[0], .y = laikad_pos_ecef[1], .z = laikad_pos_ecef[2]}; - Geodetic laikad_pos_geodetic = ecef2geodetic(ecef); - last_position = QMapbox::Coordinate(laikad_pos_geodetic.lat, laikad_pos_geodetic.lon); - - // Compute NED velocity - LocalCoord converter(ecef); - ECEF next_ecef = {.x = ecef.x + laikad_velocity_ecef[0], .y = ecef.y + laikad_velocity_ecef[1], .z = ecef.z + laikad_velocity_ecef[2]}; - Eigen::VectorXd ned_vel = converter.ecef2ned(next_ecef).to_vector() - converter.ecef2ned(ecef).to_vector(); - - float velocity = ned_vel.norm(); - velocity_filter.update(velocity); - - // Convert NED velocity to angle - if (velocity > 1.0) { - float new_bearing = fmod(RAD2DEG(atan2(ned_vel[1], ned_vel[0])) + 360.0, 360.0); - if (last_bearing) { - float delta = 0.1 * angle_difference(*last_bearing, new_bearing); // Smooth heading - last_bearing = fmod(*last_bearing + delta + 360.0, 360.0); - } else { - last_bearing = new_bearing; - } - } - } - } - if (sm.updated("navRoute") && sm["navRoute"].getNavRoute().getCoordinates().size()) { qWarning() << "Got new navRoute from navd. Opening map:" << allow_open; diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc index 8d5d4e1715..95db4f2bbd 100644 --- a/selfdrive/ui/qt/maps/map_helpers.cc +++ b/selfdrive/ui/qt/maps/map_helpers.cc @@ -31,7 +31,7 @@ QGeoCoordinate to_QGeoCoordinate(const QMapbox::Coordinate &in) { QMapbox::CoordinatesCollections model_to_collection( const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF, const cereal::LiveLocationKalman::Measurement::Reader &positionECEF, - const cereal::ModelDataV2::XYZTData::Reader &line){ + const cereal::XYZTData::Reader &line){ Eigen::Vector3d ecef(positionECEF.getValue()[0], positionECEF.getValue()[1], positionECEF.getValue()[2]); Eigen::Vector3d orient(calibratedOrientationECEF.getValue()[0], calibratedOrientationECEF.getValue()[1], calibratedOrientationECEF.getValue()[2]); diff --git a/selfdrive/ui/qt/maps/map_helpers.h b/selfdrive/ui/qt/maps/map_helpers.h index 6bd5b0f067..f9c56107e3 100644 --- a/selfdrive/ui/qt/maps/map_helpers.h +++ b/selfdrive/ui/qt/maps/map_helpers.h @@ -20,7 +20,7 @@ QGeoCoordinate to_QGeoCoordinate(const QMapbox::Coordinate &in); QMapbox::CoordinatesCollections model_to_collection( const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF, const cereal::LiveLocationKalman::Measurement::Reader &positionECEF, - const cereal::ModelDataV2::XYZTData::Reader &line); + const cereal::XYZTData::Reader &line); QMapbox::CoordinatesCollections coordinate_to_collection(const QMapbox::Coordinate &c); QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List::Reader &coordinate_list); QMapbox::CoordinatesCollections coordinate_list_to_collection(const QList &coordinate_list); diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 2f366a9b38..327c7537a2 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -27,7 +27,7 @@ void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) { } DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverStateV2"}), QWidget(parent) { - face_img = loadPixmap("../assets/img_driver_face.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); + face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); } void DriverViewScene::showEvent(QShowEvent* event) { diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc index f3e50b572b..72c341fdf9 100644 --- a/selfdrive/ui/qt/offroad/onboarding.cc +++ b/selfdrive/ui/qt/offroad/onboarding.cc @@ -40,9 +40,6 @@ void TrainingGuide::mouseReleaseEvent(QMouseEvent *e) { } void TrainingGuide::showEvent(QShowEvent *event) { - img_path = width() == WIDE_WIDTH ? "../assets/training_wide/" : "../assets/training/"; - boundingRect = width() == WIDE_WIDTH ? boundingRectWide : boundingRectStandard; - currentIndex = 0; image.load(img_path + "step0.png"); click_timer.start(); @@ -114,6 +111,9 @@ void TermsPage::showEvent(QShowEvent *event) { QPushButton { background-color: #465BEA; } + QPushButton:pressed { + background-color: #3049F4; + } QPushButton:disabled { background-color: #4F4F4F; } diff --git a/selfdrive/ui/qt/offroad/onboarding.h b/selfdrive/ui/qt/offroad/onboarding.h index 48f4094899..d347d1e613 100644 --- a/selfdrive/ui/qt/offroad/onboarding.h +++ b/selfdrive/ui/qt/offroad/onboarding.h @@ -25,56 +25,31 @@ private: int currentIndex = 0; // Bounding boxes for each training guide step - const QRect continueBtnStandard = {1620, 0, 300, 1080}; - QVector boundingRectStandard { - QRect(112, 804, 619, 166), - continueBtnStandard, - continueBtnStandard, - QRect(1476, 565, 253, 308), - QRect(1501, 529, 184, 108), - continueBtnStandard, - QRect(1613, 665, 178, 153), - QRect(1220, 0, 420, 730), - QRect(1335, 499, 440, 147), - QRect(112, 820, 996, 148), - QRect(1412, 199, 316, 333), - continueBtnStandard, - QRect(1237, 63, 683, 1017), - continueBtnStandard, - QRect(1455, 110, 313, 860), - QRect(1253, 519, 383, 228), - continueBtnStandard, - continueBtnStandard, - QRect(630, 804, 626, 164), - QRect(108, 804, 426, 164), - }; - - const QRect continueBtnWide = {1840, 0, 320, 1080}; - QVector boundingRectWide { + const QRect continueBtn = {1840, 0, 320, 1080}; + QVector boundingRect { QRect(112, 804, 618, 164), - continueBtnWide, - continueBtnWide, + continueBtn, + continueBtn, QRect(1641, 558, 210, 313), QRect(1662, 528, 184, 108), - continueBtnWide, + continueBtn, QRect(1814, 621, 211, 170), QRect(1350, 0, 497, 755), - QRect(1553, 516, 406, 112), + QRect(1540, 386, 468, 238), QRect(112, 804, 1126, 164), QRect(1598, 199, 316, 333), - continueBtnWide, + continueBtn, QRect(1364, 90, 796, 990), - continueBtnWide, + continueBtn, QRect(1593, 114, 318, 853), QRect(1379, 511, 391, 243), - continueBtnWide, - continueBtnWide, + continueBtn, + continueBtn, QRect(630, 804, 626, 164), QRect(108, 804, 426, 164), }; - QString img_path; - QVector boundingRect; + const QString img_path = "../assets/training/"; QElapsedTimer click_timer; signals: diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 63b87149d4..b9fec9d62d 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); @@ -272,7 +273,7 @@ void DevicePanel::updateCalibDescription() { AlignedBuffer aligned_buf; capnp::FlatArrayMessageReader cmsg(aligned_buf.align(calib_bytes.data(), calib_bytes.size())); auto calib = cmsg.getRoot().getLiveCalibration(); - if (calib.getCalStatus() != 0) { + if (calib.getCalStatus() != cereal::LiveCalibrationData::Status::UNCALIBRATED) { double pitch = calib.getRpyCalib()[1] * (180 / M_PI); double yaw = calib.getRpyCalib()[2] * (180 / M_PI); desc += tr(" Your device is pointed %1° %2 and %3° %4.") @@ -342,7 +343,6 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { QPushButton { font-size: 140px; padding-bottom: 20px; - font-weight: bold; border 1px grey solid; border-radius: 100px; background-color: #292929; @@ -378,22 +378,18 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { QObject::connect(map_panel, &MapPanel::closeSettings, this, &SettingsWindow::closeSettings); #endif - const int padding = panels.size() > 3 ? 25 : 35; - nav_btns = new QButtonGroup(this); for (auto &[name, panel] : panels) { QPushButton *btn = new QPushButton(name); btn->setCheckable(true); btn->setChecked(nav_btns->buttons().size() == 0); - btn->setStyleSheet(QString(R"( + btn->setStyleSheet(R"( QPushButton { color: grey; border: none; background: none; font-size: 65px; font-weight: 500; - padding-top: %1px; - padding-bottom: %1px; } QPushButton:checked { color: white; @@ -401,8 +397,8 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { QPushButton:pressed { color: #ADADAD; } - )").arg(padding)); - + )"); + btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); nav_btns->addButton(btn); sidebar_layout->addWidget(btn, 0, Qt::AlignRight); diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/offroad/wifiManager.cc index fde8645586..be9da34d45 100644 --- a/selfdrive/ui/qt/offroad/wifiManager.cc +++ b/selfdrive/ui/qt/offroad/wifiManager.cc @@ -415,7 +415,7 @@ void WifiManager::addTetheringConnection() { } void WifiManager::tetheringActivated(QDBusPendingCallWatcher *call) { - int prime_type = uiState()->prime_type; + int prime_type = uiState()->primeType(); int ipv4_forward = (prime_type == PrimeType::NONE || prime_type == PrimeType::LITE); if (!ipv4_forward) { diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 33b1ea8e27..af07f179c4 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -89,7 +89,7 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) { void OnroadWindow::offroadTransition(bool offroad) { #ifdef ENABLE_MAPS if (!offroad) { - if (map == nullptr && (uiState()->prime_type || !MAPBOX_TOKEN.isEmpty())) { + if (map == nullptr && (uiState()->primeType() || !MAPBOX_TOKEN.isEmpty())) { MapWindow * m = new MapWindow(get_mapbox_settings()); map = m; @@ -281,14 +281,12 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { // update engageability/experimental mode button experimental_btn->updateState(s); - // update DM icons at 2Hz - if (sm.frame % (UI_FREQ / 2) == 0) { - setProperty("dmActive", sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode()); - setProperty("rightHandDM", sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD()); - } - + // update DM icon + auto dm_state = sm["driverMonitoringState"].getDriverMonitoringState(); + setProperty("dmActive", dm_state.getIsActiveMode()); + setProperty("rightHandDM", dm_state.getIsRHD()); // DM icon transition - dm_fade_state = fmax(0.0, fmin(1.0, dm_fade_state+0.2*(0.5-(float)(dmActive)))); + dm_fade_state = std::clamp(dm_fade_state+0.2*(0.5-dmActive), 0.0, 1.0); } void AnnotatedCameraWidget::drawHud(QPainter &p) { @@ -460,6 +458,7 @@ void AnnotatedCameraWidget::drawIcon(QPainter &p, int x, int y, QPixmap &img, QB p.drawEllipse(x - btn_size / 2, y - btn_size / 2, btn_size, btn_size); p.setOpacity(opacity); p.drawPixmap(x - img.size().width() / 2, y - img.size().height() / 2, img); + p.setOpacity(1.0); } @@ -511,24 +510,34 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { } // paint path - QLinearGradient bg(0, height(), 0, height() / 4); - float start_hue, end_hue; + QLinearGradient bg(0, height(), 0, 0); if (sm["controlsState"].getControlsState().getExperimentalMode()) { - const auto &acceleration = sm["modelV2"].getModelV2().getAcceleration(); - float acceleration_future = 0; - if (acceleration.getZ().size() > 16) { - acceleration_future = acceleration.getX()[16]; // 2.5 seconds + // The first half of track_vertices are the points for the right side of the path + // and the indices match the positions of accel from uiPlan + const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel(); + const int max_len = std::min(scene.track_vertices.length() / 2, acceleration.size()); + + for (int i = 0; i < max_len; ++i) { + // Some points are out of frame + if (scene.track_vertices[i].y() < 0 || scene.track_vertices[i].y() > height()) continue; + + // Flip so 0 is bottom of frame + float lin_grad_point = (height() - scene.track_vertices[i].y()) / height(); + + // speed up: 120, slow down: 0 + float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0); + // FIXME: painter.drawPolygon can be slow if hue is not rounded + path_hue = int(path_hue * 100 + 0.5) / 100; + + float saturation = fmin(fabs(acceleration[i] * 1.5), 1); + float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f); // lighter when grey + float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f); // matches previous alpha fade + bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha)); + + // Skip a point, unless next is last + i += (i + 2) < max_len ? 1 : 0; } - start_hue = 60; - // speed up: 120, slow down: 0 - end_hue = fmax(fmin(start_hue + acceleration_future * 45, 148), 0); - - // FIXME: painter.drawPolygon can be slow if hue is not rounded - end_hue = int(end_hue * 100 + 0.5) / 100; - bg.setColorAt(0.0, QColor::fromHslF(start_hue / 360., 0.97, 0.56, 0.4)); - bg.setColorAt(0.5, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.35)); - bg.setColorAt(1.0, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.0)); } else { bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4)); bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35)); @@ -550,13 +559,7 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s) int x = rightHandDM ? rect().right() - (btn_size - 24) / 2 - (bdr_s * 2) : (btn_size - 24) / 2 + (bdr_s * 2); int y = rect().bottom() - footer_h / 2; float opacity = dmActive ? 0.65 : 0.2; - drawIcon(painter, x, y, dm_img, blackColor(0), opacity); - - // circle background - painter.setOpacity(1.0); - painter.setPen(Qt::NoPen); - painter.setBrush(blackColor(70)); - painter.drawEllipse(x - btn_size / 2, y - btn_size / 2, btn_size, btn_size); + drawIcon(painter, x, y, dm_img, blackColor(70), opacity); // face QPointF face_kpts_draw[std::size(default_face_kpts_3d)]; @@ -573,7 +576,10 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s) const int arc_l = 133; const float arc_t_default = 6.7; const float arc_t_extend = 12.0; - QColor arc_color = QColor::fromRgbF(0.09, 0.945, 0.26, 0.4*(1.0-dm_fade_state)*(s->engaged())); + QColor arc_color = QColor::fromRgbF(0.545 - 0.445 * s->engaged(), + 0.545 + 0.4 * s->engaged(), + 0.545 - 0.285 * s->engaged(), + 0.4 * (1.0 - dm_fade_state)); float delta_x = -scene.driver_pose_sins[1] * arc_l / 2; float delta_y = -scene.driver_pose_sins[0] * arc_l / 2; painter.setPen(QPen(arc_color, arc_t_default+arc_t_extend*fmin(1.0, scene.driver_pose_diff[1] * 5.0), Qt::SolidLine, Qt::RoundCap)); @@ -645,16 +651,18 @@ void AnnotatedCameraWidget::paintGL() { } // Wide or narrow cam dependent on speed - float v_ego = sm["carState"].getCarState().getVEgo(); - if ((v_ego < 10) || s->wide_cam_only) { - wide_cam_requested = true; - } else if (v_ego > 15) { - wide_cam_requested = false; + bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD); + if (has_wide_cam) { + float v_ego = sm["carState"].getCarState().getVEgo(); + if ((v_ego < 10) || available_streams.size() == 1) { + wide_cam_requested = true; + } else if (v_ego > 15) { + wide_cam_requested = false; + } + wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode(); + // for replay of old routes, never go to widecam + wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid; } - wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode(); - // TODO: also detect when ecam vision stream isn't available - // for replay of old routes, never go to widecam - wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid; CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD); s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD; @@ -674,7 +682,7 @@ void AnnotatedCameraWidget::paintGL() { if (s->worldObjectsVisible()) { if (sm.rcv_frame("modelV2") > s->scene.started_frame) { - update_model(s, sm["modelV2"].getModelV2()); + update_model(s, sm["modelV2"].getModelV2(), sm["uiPlan"].getUiPlan()); if (sm.rcv_frame("radarState") > s->scene.started_frame) { update_leads(s, radar_state, sm["modelV2"].getModelV2().getPosition()); } diff --git a/selfdrive/ui/qt/qt_window.cc b/selfdrive/ui/qt/qt_window.cc index d630b560bb..b83db70671 100644 --- a/selfdrive/ui/qt/qt_window.cc +++ b/selfdrive/ui/qt/qt_window.cc @@ -19,6 +19,10 @@ void setMainWindow(QWidget *w) { wl_surface_set_buffer_transform(s, WL_OUTPUT_TRANSFORM_270); wl_surface_commit(s); w->showFullScreen(); + + // ensure we have a valid eglDisplay, otherwise the ui will silently fail + void *egl = native->nativeResourceForWindow("egldisplay", w->windowHandle()); + assert(egl != nullptr); #endif } diff --git a/selfdrive/ui/qt/setup/reset.cc b/selfdrive/ui/qt/setup/reset.cc index 582217c1d7..7999dd640b 100644 --- a/selfdrive/ui/qt/setup/reset.cc +++ b/selfdrive/ui/qt/setup/reset.cc @@ -11,14 +11,11 @@ #define NVME "/dev/nvme0n1" #define USERDATA "/dev/disk/by-partlabel/userdata" -void Reset::doReset() { - // best effort to wipe nvme and sd card +void Reset::doErase() { + // best effort to wipe nvme std::system("sudo umount " NVME); std::system("yes | sudo mkfs.ext4 " NVME); - // we handle two cases here - // * user-prompted factory reset - // * recovering from a corrupt userdata by formatting int rm = std::system("sudo rm -rf /data/*"); std::system("sudo umount " USERDATA); int fmt = std::system("yes | sudo mkfs.ext4 " USERDATA); @@ -30,22 +27,26 @@ void Reset::doReset() { rebootBtn->show(); } +void Reset::startReset() { + body->setText(tr("Resetting device...\nThis may take up to a minute.")); + rejectBtn->hide(); + rebootBtn->hide(); + confirmBtn->hide(); +#ifdef __aarch64__ + QTimer::singleShot(100, this, &Reset::doErase); +#endif +} + void Reset::confirm() { const QString confirm_txt = tr("Are you sure you want to reset your device?"); if (body->text() != confirm_txt) { body->setText(confirm_txt); } else { - body->setText(tr("Resetting device...")); - rejectBtn->hide(); - rebootBtn->hide(); - confirmBtn->hide(); -#ifdef __aarch64__ - QTimer::singleShot(100, this, &Reset::doReset); -#endif + startReset(); } } -Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { +Reset::Reset(ResetMode mode, QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(45, 220, 45, 45); main_layout->setSpacing(0); @@ -56,7 +57,7 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { main_layout->addSpacing(60); - body = new QLabel(tr("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.")); + body = new QLabel(tr("Press confirm to erase all content and settings. Press cancel to resume boot.")); body->setWordWrap(true); body->setStyleSheet("font-size: 80px; font-weight: light;"); main_layout->addWidget(body, 1, Qt::AlignTop | Qt::AlignLeft); @@ -78,14 +79,27 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { #endif confirmBtn = new QPushButton(tr("Confirm")); - confirmBtn->setStyleSheet("background-color: #465BEA;"); + confirmBtn->setStyleSheet(R"( + QPushButton { + background-color: #465BEA; + } + QPushButton:pressed { + background-color: #3049F4; + } + )"); blayout->addWidget(confirmBtn); QObject::connect(confirmBtn, &QPushButton::clicked, this, &Reset::confirm); + bool recover = mode == ResetMode::RECOVER; rejectBtn->setVisible(!recover); rebootBtn->setVisible(recover); if (recover) { - body->setText(tr("Unable to mount data partition. Press confirm to reset your device.")); + body->setText(tr("Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.")); + } + + // automatically start if we're just finishing up an ABL reset + if (mode == ResetMode::FORMAT) { + startReset(); } setStyleSheet(R"( @@ -104,13 +118,24 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { border-radius: 10px; background-color: #333333; } + QPushButton:pressed { + background-color: #444444; + } )"); } int main(int argc, char *argv[]) { - bool recover = argc > 1 && strcmp(argv[1], "--recover") == 0; + ResetMode mode = ResetMode::USER_RESET; + if (argc > 1) { + if (strcmp(argv[1], "--recover") == 0) { + mode = ResetMode::RECOVER; + } else if (strcmp(argv[1], "--format") == 0) { + mode = ResetMode::FORMAT; + } + } + QApplication a(argc, argv); - Reset reset(recover); + Reset reset(mode); setMainWindow(&reset); return a.exec(); } diff --git a/selfdrive/ui/qt/setup/reset.h b/selfdrive/ui/qt/setup/reset.h index 3a4994077c..04a191d829 100644 --- a/selfdrive/ui/qt/setup/reset.h +++ b/selfdrive/ui/qt/setup/reset.h @@ -2,18 +2,25 @@ #include #include +enum ResetMode { + USER_RESET, // user initiated a factory reset from openpilot + RECOVER, // userdata is corrupt for some reason, give a chance to recover + FORMAT, // finish up an ABL factory reset +}; + class Reset : public QWidget { Q_OBJECT public: - explicit Reset(bool recover = false, QWidget *parent = 0); + explicit Reset(ResetMode mode, QWidget *parent = 0); private: QLabel *body; QPushButton *rejectBtn; QPushButton *rebootBtn; QPushButton *confirmBtn; - void doReset(); + void doErase(); + void startReset(); private slots: void confirm(); diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc index 392be68a12..de5021c8bc 100644 --- a/selfdrive/ui/qt/setup/setup.cc +++ b/selfdrive/ui/qt/setup/setup.cc @@ -34,7 +34,7 @@ bool is_elf(char *fname) { void Setup::download(QString url) { CURL *curl = curl_easy_init(); if (!curl) { - emit finished(false); + emit finished(url, tr("Something went wrong. Reboot the device.")); return; } @@ -53,15 +53,24 @@ void Setup::download(QString url) { curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L); curl_easy_setopt(curl, CURLOPT_USERAGENT, (USER_AGENT + version).c_str()); curl_easy_setopt(curl, CURLOPT_HTTPHEADER, list); + curl_easy_setopt(curl, CURLOPT_TIMEOUT, 30L); int ret = curl_easy_perform(curl); long res_status = 0; curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &res_status); - if (ret == CURLE_OK && res_status == 200 && is_elf(tmpfile)) { - rename(tmpfile, "/tmp/installer"); - emit finished(true); + + if (ret != CURLE_OK || res_status != 200) { + emit finished(url, tr("Ensure the entered URL is valid, and the device’s internet connection is good.")); + } else if (!is_elf(tmpfile)) { + emit finished(url, tr("No custom software found at this URL.")); } else { - emit finished(false); + rename(tmpfile, "/tmp/installer"); + + FILE *fp_url = fopen("/tmp/installer_url", "w"); + fprintf(fp_url, "%s", url.toStdString().c_str()); + fclose(fp_url); + + emit finished(url); } curl_slist_free_all(list); @@ -234,10 +243,10 @@ QWidget * Setup::downloading() { return widget; } -QWidget * Setup::download_failed() { +QWidget * Setup::download_failed(QLabel *url, QLabel *body) { QWidget *widget = new QWidget(); QVBoxLayout *main_layout = new QVBoxLayout(widget); - main_layout->setContentsMargins(55, 225, 55, 55); + main_layout->setContentsMargins(55, 185, 55, 55); main_layout->setSpacing(0); QLabel *title = new QLabel(tr("Download Failed")); @@ -246,7 +255,13 @@ QWidget * Setup::download_failed() { main_layout->addSpacing(67); - QLabel *body = new QLabel(tr("Ensure the entered URL is valid, and the device’s internet connection is good.")); + url->setWordWrap(true); + url->setAlignment(Qt::AlignTop | Qt::AlignLeft); + url->setStyleSheet("font-family: \"JetBrains Mono\"; font-size: 64px; font-weight: 400; margin-right: 100px;"); + main_layout->addWidget(url); + + main_layout->addSpacing(48); + body->setWordWrap(true); body->setAlignment(Qt::AlignTop | Qt::AlignLeft); body->setStyleSheet("font-size: 80px; font-weight: 300; margin-right: 100px;"); @@ -271,7 +286,7 @@ QWidget * Setup::download_failed() { restart->setProperty("primary", true); blayout->addWidget(restart); QObject::connect(restart, &QPushButton::clicked, this, [=]() { - setCurrentIndex(2); + setCurrentIndex(1); }); widget->setStyleSheet(R"( @@ -304,15 +319,19 @@ Setup::Setup(QWidget *parent) : QStackedWidget(parent) { downloading_widget = downloading(); addWidget(downloading_widget); - failed_widget = download_failed(); + QLabel *url_label = new QLabel(); + QLabel *body_label = new QLabel(); + failed_widget = download_failed(url_label, body_label); addWidget(failed_widget); - QObject::connect(this, &Setup::finished, [=](bool success) { - // hide setup on success - qDebug() << "finished" << success; - if (success) { + QObject::connect(this, &Setup::finished, [=](const QString &url, const QString &error) { + qDebug() << "finished" << url << error; + if (error.isEmpty()) { + // hide setup on success QTimer::singleShot(3000, this, &QWidget::hide); } else { + url_label->setText(url); + body_label->setText(error); setCurrentWidget(failed_widget); } }); diff --git a/selfdrive/ui/qt/setup/setup.h b/selfdrive/ui/qt/setup/setup.h index f990b5a6cb..bf5d97070d 100644 --- a/selfdrive/ui/qt/setup/setup.h +++ b/selfdrive/ui/qt/setup/setup.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include #include @@ -15,13 +16,13 @@ private: QWidget *getting_started(); QWidget *network_setup(); QWidget *downloading(); - QWidget *download_failed(); + QWidget *download_failed(QLabel *url, QLabel *body); QWidget *failed_widget; QWidget *downloading_widget; signals: - void finished(bool success); + void finished(const QString &url, const QString &error = ""); public slots: void nextPage(); diff --git a/selfdrive/ui/qt/setup/updater.cc b/selfdrive/ui/qt/setup/updater.cc index fd7148c534..ae5f26c77e 100644 --- a/selfdrive/ui/qt/setup/updater.cc +++ b/selfdrive/ui/qt/setup/updater.cc @@ -46,7 +46,14 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid QPushButton *install = new QPushButton(tr("Install")); install->setObjectName("navBtn"); - install->setStyleSheet("background-color: #465BEA;"); + install->setStyleSheet(R"( + QPushButton { + background-color: #465BEA; + } + QPushButton:pressed { + background-color: #3049F4; + } + )"); QObject::connect(install, &QPushButton::clicked, this, &Updater::installUpdate); hlayout->addWidget(install); } @@ -124,6 +131,9 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid border-radius: 10px; background-color: #333333; } + QPushButton#navBtn:pressed { + background-color: #444444; + } QProgressBar { border: none; background-color: #292929; diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index 4f52310649..c844cb2ba0 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -59,7 +59,8 @@ void configFont(QPainter &p, const QString &family, int size, const QString &sty } void clearLayout(QLayout* layout) { - while (QLayoutItem* item = layout->takeAt(0)) { + while (layout->count() > 0) { + QLayoutItem* item = layout->takeAt(0); if (QWidget* widget = item->widget()) { widget->deleteLater(); } @@ -110,7 +111,7 @@ void sigTermHandler(int s) { qApp->quit(); } -void initApp(int argc, char *argv[]) { +void initApp(int argc, char *argv[], bool disable_hidpi) { Hardware::set_display_power(true); Hardware::set_brightness(65); @@ -118,13 +119,13 @@ void initApp(int argc, char *argv[]) { std::signal(SIGINT, sigTermHandler); std::signal(SIGTERM, sigTermHandler); + if (disable_hidpi) { #ifdef __APPLE__ - { // Get the devicePixelRatio, and scale accordingly to maintain 1:1 rendering QApplication tmp(argc, argv); qputenv("QT_SCALE_FACTOR", QString::number(1.0 / tmp.devicePixelRatio() ).toLocal8Bit()); - } #endif + } setQtSurfaceFormat(); } diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h index 3188f3f9b9..b86bbcf899 100644 --- a/selfdrive/ui/qt/util.h +++ b/selfdrive/ui/qt/util.h @@ -17,9 +17,10 @@ QMap getSupportedLanguages(); void configFont(QPainter &p, const QString &family, int size, const QString &style); void clearLayout(QLayout* layout); void setQtSurfaceFormat(); +void sigTermHandler(int s); QString timeAgo(const QDateTime &date); void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg); -void initApp(int argc, char *argv[]); +void initApp(int argc, char *argv[], bool disable_hidpi = true); QWidget* topWidget (QWidget* widget); QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio); QPixmap bootstrapPixmap(const QString &id); diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 8c7a7072e2..016129c348 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -96,8 +96,10 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio) CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) : stream_name(stream_name), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { setAttribute(Qt::WA_OpaquePaintEvent); + qRegisterMetaType>("availableStreams"); QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection); + QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection); } CameraWidget::~CameraWidget() { @@ -112,6 +114,16 @@ CameraWidget::~CameraWidget() { doneCurrent(); } +// Qt uses device-independent pixels, depending on platform this may be +// different to what OpenGL uses +int CameraWidget::glWidth() { + return width() * devicePixelRatio(); +} + +int CameraWidget::glHeight() { + return height() * devicePixelRatio(); +} + void CameraWidget::initializeGL() { initializeOpenGLFunctions(); @@ -181,8 +193,12 @@ void CameraWidget::stopVipcThread() { } } +void CameraWidget::availableStreamsUpdated(std::set streams) { + available_streams = streams; +} + void CameraWidget::updateFrameMat() { - int w = width(), h = height(); + int w = glWidth(), h = glHeight(); if (zoomed_view) { if (active_stream_type == VISION_STREAM_DRIVER) { @@ -260,7 +276,7 @@ void CameraWidget::paintGL() { updateFrameMat(); - glViewport(0, 0, width(), height()); + glViewport(0, 0, glWidth(), glHeight()); glBindVertexArray(frame_vao); glUseProgram(program->programId()); glPixelStorei(GL_UNPACK_ALIGNMENT, 1); @@ -366,6 +382,13 @@ void CameraWidget::vipcThread() { if (!vipc_client->connected) { clearFrames(); + auto streams = VisionIpcClient::getAvailableStreams(stream_name, false); + if (streams.empty()) { + QThread::msleep(100); + continue; + } + emit vipcAvailableStreamsUpdated(streams); + if (!vipc_client->connect(false)) { QThread::msleep(100); continue; @@ -400,4 +423,5 @@ void CameraWidget::vipcThread() { void CameraWidget::clearFrames() { std::lock_guard lk(frame_lock); frames.clear(); + available_streams.clear(); } diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index f8b97be03e..8a140e5290 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -41,6 +41,7 @@ signals: void clicked(); void vipcThreadConnected(VisionIpcClient *); void vipcThreadFrameReceived(); + void vipcAvailableStreamsUpdated(std::set); protected: void paintGL() override; @@ -53,6 +54,9 @@ protected: void vipcThread(); void clearFrames(); + int glWidth(); + int glHeight(); + bool zoomed_view; GLuint frame_vao, frame_vbo, frame_ibo; GLuint textures[2]; @@ -71,6 +75,7 @@ protected: int stream_stride = 0; std::atomic active_stream_type; std::atomic requested_stream_type; + std::set available_streams; QThread *vipc_thread = nullptr; // Calibration @@ -88,4 +93,7 @@ protected: protected slots: void vipcConnected(VisionIpcClient *vipc_client); void vipcFrameReceived(); + void availableStreamsUpdated(std::set streams); }; + +Q_DECLARE_METATYPE(std::set); diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc index 2026a70478..49fbdff222 100644 --- a/selfdrive/ui/qt/widgets/input.cc +++ b/selfdrive/ui/qt/widgets/input.cc @@ -71,10 +71,15 @@ InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &s QPushButton* cancel_btn = new QPushButton(tr("Cancel")); cancel_btn->setFixedSize(386, 125); cancel_btn->setStyleSheet(R"( - font-size: 48px; - border-radius: 10px; - color: #E4E4E4; - background-color: #444444; + QPushButton { + font-size: 48px; + border-radius: 10px; + color: #E4E4E4; + background-color: #333333; + } + QPushButton:pressed { + background-color: #444444; + } )"); header_layout->addWidget(cancel_btn, 0, Qt::AlignRight); QObject::connect(cancel_btn, &QPushButton::clicked, this, &InputDialog::reject); diff --git a/selfdrive/ui/qt/widgets/keyboard.cc b/selfdrive/ui/qt/widgets/keyboard.cc index 1c59686535..162d27db02 100644 --- a/selfdrive/ui/qt/widgets/keyboard.cc +++ b/selfdrive/ui/qt/widgets/keyboard.cc @@ -59,7 +59,14 @@ KeyboardLayout::KeyboardLayout(QWidget* parent, const std::vectorsetAutoRepeat(true); } else if (p == ENTER_KEY) { - btn->setStyleSheet("background-color: #465BEA;"); + btn->setStyleSheet(R"( + QPushButton { + background-color: #465BEA; + } + QPushButton:pressed { + background-color: #444444; + } + )"); } btn->setFixedHeight(135 + key_spacing_vertical); btn_group->addButton(btn); diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc index da2f4e60d1..2fa84a232f 100644 --- a/selfdrive/ui/qt/widgets/prime.cc +++ b/selfdrive/ui/qt/widgets/prime.cc @@ -114,31 +114,30 @@ PairingPopup::PairingPopup(QWidget *parent) : QDialogBase(parent) { } -PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QWidget(parent) { - mainLayout = new QVBoxLayout(this); - mainLayout->setMargin(0); +PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QFrame(parent) { + QVBoxLayout *mainLayout = new QVBoxLayout(this); + mainLayout->setContentsMargins(0, 0, 0, 0); mainLayout->setSpacing(30); // subscribed prime layout QWidget *primeWidget = new QWidget; primeWidget->setObjectName("primeWidget"); QVBoxLayout *primeLayout = new QVBoxLayout(primeWidget); - primeLayout->setMargin(0); - primeWidget->setContentsMargins(60, 50, 60, 50); + primeLayout->setContentsMargins(60, 50, 60, 50); - QLabel* subscribed = new QLabel(tr("✓ SUBSCRIBED")); + QLabel *subscribed = new QLabel(tr("✓ SUBSCRIBED")); subscribed->setStyleSheet("font-size: 41px; font-weight: bold; color: #86FF4E;"); primeLayout->addWidget(subscribed, 0, Qt::AlignTop); primeLayout->addSpacing(60); - QLabel* commaPrime = new QLabel(tr("comma prime")); + QLabel *commaPrime = new QLabel(tr("comma prime")); commaPrime->setStyleSheet("font-size: 75px; font-weight: bold;"); primeLayout->addWidget(commaPrime, 0, Qt::AlignTop); primeLayout->addSpacing(20); - QLabel* connectUrl = new QLabel(tr("CONNECT.COMMA.AI")); + QLabel *connectUrl = new QLabel(tr("CONNECT.COMMA.AI")); connectUrl->setStyleSheet("font-size: 41px; font-family: Inter SemiBold; color: #A0A0A0;"); primeLayout->addWidget(connectUrl, 0, Qt::AlignTop); @@ -148,10 +147,9 @@ PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QWidget(parent) { QWidget *pointsWidget = new QWidget; pointsWidget->setObjectName("primeWidget"); QVBoxLayout *pointsLayout = new QVBoxLayout(pointsWidget); - pointsLayout->setMargin(0); - pointsWidget->setContentsMargins(60, 50, 60, 50); + pointsLayout->setContentsMargins(60, 50, 60, 50); - QLabel* commaPoints = new QLabel(tr("COMMA POINTS")); + QLabel *commaPoints = new QLabel(tr("COMMA POINTS")); commaPoints->setStyleSheet("font-size: 41px; font-family: Inter SemiBold;"); pointsLayout->addWidget(commaPoints, 0, Qt::AlignTop); @@ -183,7 +181,7 @@ void PrimeUserWidget::replyFinished(const QString &response) { } PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) { - QVBoxLayout* main_layout = new QVBoxLayout(this); + QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(80, 90, 80, 60); main_layout->setSpacing(0); @@ -227,33 +225,31 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) { // Unpaired, registration prompt layout - QWidget* finishRegistration = new QWidget; + QFrame* finishRegistration = new QFrame; finishRegistration->setObjectName("primeWidget"); QVBoxLayout* finishRegistationLayout = new QVBoxLayout(finishRegistration); - finishRegistationLayout->setContentsMargins(30, 75, 30, 45); - finishRegistationLayout->setSpacing(0); + finishRegistationLayout->setSpacing(40); + finishRegistationLayout->setContentsMargins(64, 64, 64, 64); QLabel* registrationTitle = new QLabel(tr("Finish Setup")); - registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold; margin-left: 55px;"); + registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold;"); finishRegistationLayout->addWidget(registrationTitle); - finishRegistationLayout->addSpacing(30); - QLabel* registrationDescription = new QLabel(tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.")); registrationDescription->setWordWrap(true); - registrationDescription->setStyleSheet("font-size: 55px; font-weight: light; margin-left: 55px;"); + registrationDescription->setStyleSheet("font-size: 55px; font-weight: light;"); finishRegistationLayout->addWidget(registrationDescription); finishRegistationLayout->addStretch(); QPushButton* pair = new QPushButton(tr("Pair device")); - pair->setFixedHeight(220); pair->setStyleSheet(R"( QPushButton { font-size: 55px; - font-weight: 400; + font-weight: 500; border-radius: 10px; background-color: #465BEA; + padding: 64px; } QPushButton:pressed { background-color: #3049F4; @@ -277,7 +273,7 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) { primeUser = new PrimeUserWidget; mainLayout->addWidget(primeUser); - mainLayout->setCurrentWidget(uiState()->prime_type ? (QWidget*)primeUser : (QWidget*)primeAd); + mainLayout->setCurrentWidget(uiState()->primeType() ? (QWidget*)primeUser : (QWidget*)primeAd); setFixedWidth(750); setStyleSheet(R"( @@ -312,7 +308,7 @@ void SetupWidget::replyFinished(const QString &response, bool success) { QJsonObject json = doc.object(); int prime_type = json["prime_type"].toInt(); - uiState()->prime_type = prime_type; + uiState()->setPrimeType(prime_type); if (!json["is_paired"].toBool()) { mainLayout->setCurrentIndex(0); diff --git a/selfdrive/ui/qt/widgets/prime.h b/selfdrive/ui/qt/widgets/prime.h index 0a1d93250d..c5732799b8 100644 --- a/selfdrive/ui/qt/widgets/prime.h +++ b/selfdrive/ui/qt/widgets/prime.h @@ -15,6 +15,7 @@ enum PrimeType { MAGENTA_NEW = 4, }; + // pairing QR code class PairingQRWidget : public QWidget { Q_OBJECT @@ -34,6 +35,7 @@ private slots: void refresh(); }; + // pairing popup widget class PairingPopup : public QDialogBase { Q_OBJECT @@ -42,15 +44,16 @@ public: explicit PairingPopup(QWidget* parent); }; + // widget for paired users with prime -class PrimeUserWidget : public QWidget { +class PrimeUserWidget : public QFrame { Q_OBJECT + public: explicit PrimeUserWidget(QWidget* parent = 0); private: - QVBoxLayout* mainLayout; - QLabel* points; + QLabel *points; private slots: void replyFinished(const QString &response); @@ -64,6 +67,7 @@ public: explicit PrimeAdWidget(QWidget* parent = 0); }; + // container widget class SetupWidget : public QFrame { Q_OBJECT diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc index 198b1edbf6..a1aa4b8315 100644 --- a/selfdrive/ui/qt/window.cc +++ b/selfdrive/ui/qt/window.cc @@ -79,11 +79,16 @@ void MainWindow::closeSettings() { } bool MainWindow::eventFilter(QObject *obj, QEvent *event) { - const static QSet evts({QEvent::MouseButtonPress, QEvent::MouseMove, - QEvent::TouchBegin, QEvent::TouchUpdate, QEvent::TouchEnd}); - - if (evts.contains(event->type())) { - device.resetInteractiveTimout(); + switch (event->type()) { + case QEvent::TouchBegin: + case QEvent::TouchUpdate: + case QEvent::TouchEnd: + case QEvent::MouseButtonPress: + case QEvent::MouseMove: + device.resetInteractiveTimout(); + break; + default: + break; } return false; } diff --git a/selfdrive/ui/soundd/main.cc b/selfdrive/ui/soundd/main.cc index 64088deff8..c6c7434ca4 100644 --- a/selfdrive/ui/soundd/main.cc +++ b/selfdrive/ui/soundd/main.cc @@ -5,17 +5,13 @@ #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/soundd/sound.h" -void sigHandler(int s) { - qApp->quit(); -} - int main(int argc, char **argv) { qInstallMessageHandler(swagLogMessageHandler); setpriority(PRIO_PROCESS, 0, -20); QApplication a(argc, argv); - std::signal(SIGINT, sigHandler); - std::signal(SIGTERM, sigHandler); + std::signal(SIGINT, sigTermHandler); + std::signal(SIGTERM, sigTermHandler); Sound sound; return a.exec(); diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index b40812af7c..2e4e833e07 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -576,18 +576,10 @@ location set Are you sure you want to reset your device? Bist du sicher, dass du das Gerät auf Werkseinstellungen zurücksetzen möchtest? - - Resetting device... - Gerät wird zurückgesetzt... - System Reset System auf Werkseinstellungen zurücksetzen - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - Zurücksetzen auf Werkseinstellungen wurde ausgewählt. Drücke Annehmen, um alle Inhalte und Einstellungen zu löschen. Drücke Abbrechen, um mit dem Starten des Gerätes fortzufahren. - Cancel Abbrechen @@ -601,8 +593,17 @@ location set Bestätigen - Unable to mount data partition. Press confirm to reset your device. - Datenpartition kann nicht geöffnet werden. Drücke Annehmen, um dein Gerät auf Werkseinstellungen zurückzusetzen. + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + + + + Press confirm to erase all content and settings. Press cancel to resume boot. + + + + Resetting device... +This may take up to a minute. + @@ -702,6 +703,14 @@ location set Start over Von neuem beginnen + + No custom software found at this URL. + + + + Something went wrong. Reboot the device. + + SetupWidget @@ -983,22 +992,10 @@ location set 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: @@ -1035,6 +1032,18 @@ location set 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 ed08a52df5..06435d3b41 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -574,18 +574,10 @@ location set Are you sure you want to reset your device? 初期化してもよろしいですか？ - - Resetting device... - デバイスが初期化されます... - System Reset システムを初期化 - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - システムの初期化をリクエストしました。「確認」ボタンを押すとデバイスが初期化されます。「キャンセル」ボタンを押すと起動を続行します。 - Cancel キャンセル @@ -599,8 +591,17 @@ location set 確認 - Unable to mount data partition. Press confirm to reset your device. - 「data」パーティションをマウントできません。「確認」ボタンを押すとデバイスが初期化されます。 + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + + + + Press confirm to erase all content and settings. Press cancel to resume boot. + + + + Resetting device... +This may take up to a minute. + @@ -700,6 +701,14 @@ location set Start over 最初からやり直す + + No custom software found at this URL. + + + + Something went wrong. Reboot the device. + + SetupWidget @@ -953,10 +962,6 @@ location set 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 @@ -985,14 +990,6 @@ location set 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。 @@ -1029,6 +1026,18 @@ location set 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 7b742a5048..b55a56a061 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -403,7 +403,7 @@ location set Waiting for GPS - GPS를 기다리는 중 + GPS 수신중 입니다 @@ -574,18 +574,10 @@ location set Are you sure you want to reset your device? 장치를 초기화 하시겠습니까? - - Resetting device... - 장치 초기화중... - System Reset 장치 초기화 - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - 장치를 초기화 합니다. 확인버튼을 누르면 모든 내용과 설정이 초기화됩니다. 부팅을 재개하려면 취소를 누르세요. - Cancel 취소 @@ -599,8 +591,18 @@ location set 확인 - Unable to mount data partition. Press confirm to reset your device. - 데이터 파티션을 마운트할 수 없습니다. 확인 버튼을 눌러 장치를 리셋합니다. + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + 데이터 파티션을 마운트할 수 없습니다. 파티션이 손상되었을 수 있습니다. 장치를 초기화하려면 확인을 누르세요. + + + Press confirm to erase all content and settings. Press cancel to resume boot. + 모든 콘텐츠와 설정을 지우려면 확인을 누르세요. 부팅을 재개하려면 취소를 누르세요. + + + Resetting device... +This may take up to a minute. + 장치 초기화 중... +최대 1분이 소요될 수 있습니다. @@ -700,6 +702,14 @@ location set Start over 다시 시작 + + Something went wrong. Reboot the device. + 문제가 발생했습니다. 장치를 재부팅하세요. + + + No custom software found at this URL. + 이 URL에서 커스텀 소프트웨어를 찾을 수 없습니다. + SetupWidget @@ -953,10 +963,6 @@ location set 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 @@ -985,14 +991,6 @@ location set 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 @@ -1029,6 +1027,18 @@ location set 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 a25c51de3c..34fbc8abf0 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -578,18 +578,10 @@ trabalho definido Are you sure you want to reset your device? Tem certeza que quer resetar seu dispositivo? - - Resetting device... - Resetando dispositivo... - System Reset Resetar Sistema - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - Solicitado reset do sistema. Confirme para apagar todo conteúdo e configurações. Aperte cancelar para continuar boot. - Cancel Cancelar @@ -603,8 +595,18 @@ trabalho definido Confirmar - Unable to mount data partition. Press confirm to reset your device. - Não foi possível montar a partição de dados. Pressione confirmar para resetar seu dispositivo. + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + Não é possível montar a partição de dados. Partição corrompida. Confirme para apagar e redefinir o dispositivo. + + + Press confirm to erase all content and settings. Press cancel to resume boot. + Pressione confirmar para apagar todo o conteúdo e configurações. Pressione cancelar para voltar. + + + Resetting device... +This may take up to a minute. + Redefinindo o dispositivo +Isso pode levar até um minuto. @@ -704,6 +706,14 @@ trabalho definido Start over Inicializar + + No custom software found at this URL. + Não há software personalizado nesta URL. + + + Something went wrong. Reboot the device. + Algo deu errado. Reinicie o dispositivo. + SetupWidget @@ -957,10 +967,6 @@ trabalho definido 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 @@ -989,14 +995,6 @@ trabalho definido 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: @@ -1033,6 +1031,18 @@ trabalho definido 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_th.ts b/selfdrive/ui/translations/main_th.ts index ce394ecb97..45f91f1cdb 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -311,18 +311,6 @@ Installing... กำลังติดตั้ง... - - Receiving objects: - กำลังรับข้อมูล: - - - Resolving deltas: - การแก้ไขเดลต้า: - - - Updating files: - กำลังอัปเดตไฟล์: - MapETA @@ -586,18 +574,10 @@ location set Are you sure you want to reset your device? คุณแน่ใจหรือไม่ว่าต้องการรีเซ็ตอุปกรณ์? - - Resetting device... - กำลังรีเซ็ตอุปกรณ์... - System Reset รีเซ็ตระบบ - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - มีการสั่งรีเซ็ตระบบ กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตเข้าระบบตามปกติ - Cancel ยกเลิก @@ -611,8 +591,18 @@ location set ยืนยัน - Unable to mount data partition. Press confirm to reset your device. - ไม่สามารถเมานต์พาร์ติชั่นข้อมูล กดยืนยันเพื่อรีเซ็ตอุปกรณ์ของคุณ + Resetting device... +This may take up to a minute. + กำลังรีเซ็ตอุปกรณ์... +อาจใช้เวลาถึงหนึ่งนาที + + + Press confirm to erase all content and settings. Press cancel to resume boot. + กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตต่อ + + + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + ไม่สามารถเมานต์พาร์ติชั่นข้อมูลได้ พาร์ติชั่นอาจเสียหาย กดยืนยันเพื่อลบและรีเซ็ตอุปกรณ์ของคุณ @@ -684,18 +674,6 @@ location set Waiting for internet กำลังรอสัญญาณอินเตอร์เน็ต - - Choose Software to Install - เลือกซอฟต์แวร์ที่จะติดตั้ง - - - Dashcam - กล้องติดรถยนต์ - - - Custom Software - ซอฟต์แวร์ที่กำหนดเอง - Enter URL ป้อน URL @@ -724,6 +702,14 @@ location set Start over เริ่มต้นใหม่ + + Something went wrong. Reboot the device. + มีบางอย่างผิดพลาด รีบูตอุปกรณ์ + + + No custom software found at this URL. + ไม่พบซอฟต์แวร์ที่กำหนดเองที่ URL นี้ + SetupWidget diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 68c1bb766f..7cacc72f1c 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -572,18 +572,10 @@ location set Are you sure you want to reset your device? 您确定要重置您的设备吗？ - - Resetting device... - 正在重置设备…… - System Reset 恢复出厂设置 - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - 已触发系统重置：确认以删除所有内容和设置。取消以正常启动设备。 - Cancel 取消 @@ -597,8 +589,17 @@ location set 确认 - Unable to mount data partition. Press confirm to reset your device. - 无法挂载数据分区。 确认以重置您的设备。 + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + + + + Press confirm to erase all content and settings. Press cancel to resume boot. + + + + Resetting device... +This may take up to a minute. + @@ -698,6 +699,14 @@ location set Start over 重来 + + No custom software found at this URL. + + + + Something went wrong. Reboot the device. + + SetupWidget @@ -951,10 +960,6 @@ location set 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 @@ -983,14 +988,6 @@ location set 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： @@ -1027,6 +1024,18 @@ location set 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 71315e118f..e559ca88a6 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -200,7 +200,7 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。 + openpilot 需要將設備固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。 Your device is pointed %1° %2 and %3° %4. @@ -574,18 +574,10 @@ location set Are you sure you want to reset your device? 您確定要重置你的設備嗎？ - - Resetting device... - 重置設備中… - System Reset 系統重置 - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - 系統重置已觸發。請按確認刪除所有內容和設置。按取消恢復啟動。 - Cancel 取消 @@ -599,8 +591,17 @@ location set 確認 - Unable to mount data partition. Press confirm to reset your device. - 無法掛載數據分區。請按確認重置您的設備。 + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + 無法掛載資料分割區 分割區可能已經毀損 請確認是否要刪除並重新設定 + + + Press confirm to erase all content and settings. Press cancel to resume boot. + 按下確認以刪除所有內容及設定 按下取消來繼續開機 + + + Resetting device... +This may take up to a minute. + 設備重置中 此過程可能需要幾分鐘 @@ -700,6 +701,14 @@ location set Start over 重新開始 + + No custom software found at this URL. + 無法在此URL找到定制的軟體 + + + Something went wrong. Reboot the device. + 發生了一些錯誤 請重新啟動您的設備 + SetupWidget @@ -953,10 +962,6 @@ location set 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 @@ -985,14 +990,6 @@ location set 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： @@ -1019,16 +1016,28 @@ location set openpilot longitudinal control may come in a future update. - + 未來可能會推出openpilot縱向控制 An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - + 在非發行分支中 可找到包含實驗模式的openpilot縱向控制測試版本 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/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 6c850b8ca4..ac8caa0f20 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -35,7 +35,7 @@ static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, return false; } -int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height) { +int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) { const auto line_x = line.getX(); int max_idx = 0; for (int i = 1; i < TRAJECTORY_SIZE && line_x[i] <= path_height; ++i) { @@ -44,7 +44,7 @@ int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const return max_idx; } -void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::ModelDataV2::XYZTData::Reader &line) { +void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line) { for (int i = 0; i < 2; ++i) { auto lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo(); if (lead_data.getStatus()) { @@ -54,7 +54,7 @@ void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, con } } -void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line, +void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line, float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) { const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ(); QPolygonF left_points, right_points; @@ -79,10 +79,15 @@ void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Rea *pvd = left_points + right_points; } -void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) { +void update_model(UIState *s, + const cereal::ModelDataV2::Reader &model, + const cereal::UiPlan::Reader &plan) { UIScene &scene = s->scene; - auto model_position = model.getPosition(); - float max_distance = std::clamp(model_position.getX()[TRAJECTORY_SIZE - 1], + auto plan_position = plan.getPosition(); + if (plan_position.getX().size() < TRAJECTORY_SIZE){ + plan_position = model.getPosition(); + } + float max_distance = std::clamp(plan_position.getX()[TRAJECTORY_SIZE - 1], MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE); // update lane lines @@ -108,8 +113,8 @@ void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) { const float lead_d = lead_one.getDRel() * 2.; max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance); } - max_idx = get_path_length_idx(model_position, max_distance); - update_line_data(s, model_position, 0.9, 1.22, &scene.track_vertices, max_idx, false); + max_idx = get_path_length_idx(plan_position, max_distance); + update_line_data(s, plan_position, 0.9, 1.22, &scene.track_vertices, max_idx, false); } void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd) { @@ -174,7 +179,7 @@ static void update_state(UIState *s) { scene.view_from_wide_calib.v[i*3 + j] = view_from_wide_calib(i,j); } } - scene.calibration_valid = sm["liveCalibration"].getLiveCalibration().getCalStatus() == 1; + scene.calibration_valid = sm["liveCalibration"].getLiveCalibration().getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED; scene.calibration_wide_valid = wfde_list.size() == 3; } if (sm.updated("pandaStates")) { @@ -229,29 +234,20 @@ void UIState::updateStatus() { if (scene.started) { status = STATUS_DISENGAGED; scene.started_frame = sm->frame; - wide_cam_only = Params().getBool("WideCameraOnly"); } started_prev = scene.started; emit offroadTransition(!scene.started); } - - // Handle prime type change - if (prime_type != prime_type_prev) { - prime_type_prev = prime_type; - emit primeTypeChanged(prime_type); - Params().put("PrimeType", std::to_string(prime_type)); - } } UIState::UIState(QObject *parent) : QObject(parent) { sm = std::make_unique>({ "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState", "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2", - "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "gnssMeasurements", + "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan", }); Params params; - wide_cam_only = params.getBool("WideCameraOnly"); prime_type = std::atoi(params.get("PrimeType").c_str()); language = QString::fromStdString(params.get("LanguageSetting")); @@ -272,6 +268,14 @@ void UIState::update() { emit uiUpdate(*this); } +void UIState::setPrimeType(int type) { + if (type != prime_type) { + prime_type = type; + Params().put("PrimeType", std::to_string(prime_type)); + emit primeTypeChanged(prime_type); + } +} + Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) { setAwake(true); resetInteractiveTimout(); diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index e3eb97a762..2df0470035 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -133,10 +133,13 @@ public: void updateStatus(); inline bool worldObjectsVisible() const { return sm->rcv_frame("liveCalibration") > scene.started_frame; - }; + } inline bool engaged() const { return scene.started && (*sm)["controlsState"].getControlsState().getEnabled(); - }; + } + + void setPrimeType(int type); + inline int primeType() const { return prime_type; } int fb_w = 0, fb_h = 0; @@ -146,11 +149,9 @@ public: UIScene scene = {}; bool awake; - int prime_type; QString language; QTransform car_space_transform; - bool wide_cam_only; signals: void uiUpdate(const UIState &s); @@ -163,7 +164,7 @@ private slots: private: QTimer *timer; bool started_prev = false; - int prime_type_prev = -1; + int prime_type = -1; }; UIState *uiState(); @@ -198,9 +199,11 @@ public slots: }; void ui_update_params(UIState *s); -int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height); -void update_model(UIState *s, const cereal::ModelDataV2::Reader &model); +int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height); +void update_model(UIState *s, + const cereal::ModelDataV2::Reader &model, + const cereal::UiPlan::Reader &plan); void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd); -void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::ModelDataV2::XYZTData::Reader &line); -void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line, +void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line); +void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line, float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert); diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index e15d4c3433..5964eb49dc 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -19,7 +19,7 @@ def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLA for file in translation_files.values(): tr_file = os.path.join(translations_dir, f"{file}.ts") - args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file}" + args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file} -I {BASEDIR}" if vanish: args += " -no-obsolete" if file in plural_only: diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 7ee3738057..9ef5d89a4e 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -157,9 +157,6 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr framed.setHighConversionGain(frame_data.high_conversion_gain); framed.setMeasuredGreyFraction(frame_data.measured_grey_fraction); framed.setTargetGreyFraction(frame_data.target_grey_fraction); - framed.setLensPos(frame_data.lens_pos); - framed.setLensErr(frame_data.lens_err); - framed.setLensTruePos(frame_data.lens_true_pos); framed.setProcessingTime(frame_data.processing_time); const float ev = c->cur_ev[frame_data.frame_id % 3]; diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 088b9f7939..07d1291a2a 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -66,11 +66,6 @@ typedef struct FrameMetadata { float measured_grey_fraction; float target_grey_fraction; - // Focus - unsigned int lens_pos; - float lens_err; - float lens_true_pos; - float processing_time; } FrameMetadata; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 92b3bde413..4325eccde5 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -71,7 +71,7 @@ const int DC_GAIN_MIN_WEIGHT_OX03C10 = 1; // always on is fine const int DC_GAIN_MAX_WEIGHT_OX03C10 = 1; const float TARGET_GREY_FACTOR_AR0231 = 1.0; -const float TARGET_GREY_FACTOR_OX03C10 = 0.02; +const float TARGET_GREY_FACTOR_OX03C10 = 0.01; const float sensor_analog_gains_AR0231[] = { 1.0/8.0, 2.0/8.0, 2.0/7.0, 3.0/7.0, // 0, 1, 2, 3 @@ -101,7 +101,7 @@ const float ANALOG_GAIN_COST_LOW_AR0231 = 0.1; const float ANALOG_GAIN_COST_HIGH_AR0231 = 5.0; const int ANALOG_GAIN_MIN_IDX_OX03C10 = 0x0; -const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x11; // 2.5x +const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x0; // 1x const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0x36; const int ANALOG_GAIN_COST_DELTA_OX03C10 = -1; const float ANALOG_GAIN_COST_LOW_OX03C10 = 0.4; @@ -1175,23 +1175,18 @@ void CameraState::set_camera_exposure(float grey_frac) { // t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD uint32_t hcg_time = exposure_time; uint32_t lcg_time = hcg_time; - uint32_t spd_time = exposure_time_max + VS_TIME_MAX_OX03C10; + uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (exposure_time_max + VS_TIME_MAX_OX03C10) / 3), exposure_time_max + VS_TIME_MAX_OX03C10); uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10); uint32_t real_gain = ox03c10_analog_gains_reg[new_exp_g]; - uint32_t min_gain = ox03c10_analog_gains_reg[0]; - uint32_t spd_gain = 0xF00; struct i2c_random_wr_payload exp_reg_array[] = { {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF}, {0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF}, {0x3541, spd_time>>8}, {0x3542, spd_time&0xFF}, - {0x35c1, vs_time>>8}, {0x35c2, vs_time&0xFF}, + {0x35c2, vs_time&0xFF}, {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF}, - {0x3588, min_gain>>8}, {0x3589, min_gain&0xFF}, - {0x3548, spd_gain>>8}, {0x3549, spd_gain&0xFF}, - {0x35c8, min_gain>>8}, {0x35c9, min_gain&0xFF}, }; sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false); } diff --git a/system/camerad/cameras/real_debayer.cl b/system/camerad/cameras/real_debayer.cl index cff5ae455b..e15a873d6d 100644 --- a/system/camerad/cameras/real_debayer.cl +++ b/system/camerad/cameras/real_debayer.cl @@ -18,6 +18,9 @@ float3 color_correct(float3 rgb) { x += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782); #endif + #if IS_OX + return -0.507089*exp(-12.54124638*x)+0.9655*powr(x,0.5)-0.472597*x+0.507089; + #else // tone mapping params const float gamma_k = 0.75; const float gamma_b = 0.125; @@ -28,6 +31,7 @@ float3 color_correct(float3 rgb) { return (x > mp) ? ((rk * (x-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(x-mp))) + gamma_k*mp + gamma_b) : ((rk * (x-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(x-mp))) + gamma_k*mp + gamma_b); + #endif } float get_vignetting_s(float r) { diff --git a/system/camerad/cameras/sensor2_i2c.h b/system/camerad/cameras/sensor2_i2c.h index 83fcb8f7a9..9170c5183a 100644 --- a/system/camerad/cameras/sensor2_i2c.h +++ b/system/camerad/cameras/sensor2_i2c.h @@ -58,7 +58,7 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { // SC ctrl {0x3001, 0x03}, // io_pad_oen - {0x3002, 0xf8}, // io_pad_oen + {0x3002, 0xfc}, // io_pad_oen {0x3005, 0x80}, // io_pad_out {0x3007, 0x01}, // io_pad_sel {0x3008, 0x80}, // io_pad_sel @@ -85,6 +85,9 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { {0x3882, 0x8}, {0x3883, 0x0D}, {0x3836, 0x1F}, {0x3837, 0x40}, + {0x3892, 0x44}, + {0x3823, 0x48}, + {0x3012, 0x41}, // SC_PHY_CTRL = 4 lane MIPI {0x3020, 0x05}, // SC_CTRL_20 @@ -179,8 +182,8 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { {0x3820, 0x04}, {0x3821, 0x19}, - {0x3832, 0x00}, - {0x3834, 0x00}, + {0x3832, 0xF0}, + {0x3834, 0xF0}, {0x384c, 0x02}, {0x384d, 0x0d}, {0x3850, 0x00}, @@ -749,6 +752,12 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { {0x5486, 0x08}, {0x5487, 0xDE}, {0x5686, 0x08}, {0x5687, 0xDE}, {0x5886, 0x08}, {0x5887, 0xDE}, + + // fixed gains + {0x3588, 0x01}, {0x3589, 0x00}, + {0x35c8, 0x01}, {0x35c9, 0x00}, + {0x3548, 0x0F}, {0x3549, 0x00}, + {0x35c1, 0x00}, }; struct i2c_random_wr_payload init_array_ar0231[] = { diff --git a/system/hardware/base.h b/system/hardware/base.h index 6cfc1d8743..5460099723 100644 --- a/system/hardware/base.h +++ b/system/hardware/base.h @@ -18,6 +18,10 @@ public: static std::string get_serial() { return "cccccc"; } + static std::map get_init_logs() { + return {}; + } + static void reboot() {} static void poweroff() {} static void set_brightness(int percent) {} diff --git a/system/hardware/base.py b/system/hardware/base.py index 31df1babe0..0b6ca44c3c 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -135,6 +135,9 @@ class HardwareBase(ABC): def get_networks(self): pass + def has_internal_panda(self) -> bool: + return False + def reset_internal_panda(self): pass diff --git a/system/hardware/hw.h b/system/hardware/hw.h index 5599e79186..3b0583a10b 100644 --- a/system/hardware/hw.h +++ b/system/hardware/hw.h @@ -19,7 +19,7 @@ inline std::string log_root() { return Hardware::PC() ? util::getenv("HOME") + "/.comma/media/0/realdata" : "/data/media/0/realdata"; } inline std::string params() { - return Hardware::PC() ? util::getenv("HOME") + "/.comma/params" : "/data/params"; + return Hardware::PC() ? util::getenv("PARAMS_ROOT", util::getenv("HOME") + "/.comma/params") : "/data/params"; } inline std::string rsa_file() { return Hardware::PC() ? util::getenv("HOME") + "/.comma/persist/comma/id_rsa" : "/persist/comma/id_rsa"; diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 7876b1af1f..6730f82706 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -1,19 +1,19 @@ [ { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-72662ec5d586c7a22659a1c8b140932d5472914176020fe76ba4204edbbb214a.img.xz", - "hash": "72662ec5d586c7a22659a1c8b140932d5472914176020fe76ba4204edbbb214a", - "hash_raw": "72662ec5d586c7a22659a1c8b140932d5472914176020fe76ba4204edbbb214a", - "size": 14780416, + "url": "https://commadist.azureedge.net/agnosupdate/boot-7d953f5e1bc606984e4d49c6f957421a4172f72b4ebd359baa689ef43b7e911c.img.xz", + "hash": "7d953f5e1bc606984e4d49c6f957421a4172f72b4ebd359baa689ef43b7e911c", + "hash_raw": "7d953f5e1bc606984e4d49c6f957421a4172f72b4ebd359baa689ef43b7e911c", + "size": 15153152, "sparse": false, "full_check": true, "has_ab": true }, { "name": "abl", - "url": "https://commadist.azureedge.net/agnosupdate/abl-ab4068f005ed9cb7fbca55c6d658880df1abfb1a4e6afb64f3fc5e64dac6fc82.img.xz", - "hash": "ab4068f005ed9cb7fbca55c6d658880df1abfb1a4e6afb64f3fc5e64dac6fc82", - "hash_raw": "ab4068f005ed9cb7fbca55c6d658880df1abfb1a4e6afb64f3fc5e64dac6fc82", + "url": "https://commadist.azureedge.net/agnosupdate/abl-50329ac734ff7a6c20c3f552dce9b13f84b3eb2e73faa64b9810049d9b406602.img.xz", + "hash": "50329ac734ff7a6c20c3f552dce9b13f84b3eb2e73faa64b9810049d9b406602", + "hash_raw": "50329ac734ff7a6c20c3f552dce9b13f84b3eb2e73faa64b9810049d9b406602", "size": 274432, "sparse": false, "full_check": true, @@ -21,29 +21,49 @@ }, { "name": "xbl", - "url": "https://commadist.azureedge.net/agnosupdate/xbl-2b1b67aa918cd127f2b0b4ed0a372f3a93676cf9d270bd3e56329516efdc5a35.img.xz", - "hash": "2b1b67aa918cd127f2b0b4ed0a372f3a93676cf9d270bd3e56329516efdc5a35", - "hash_raw": "2b1b67aa918cd127f2b0b4ed0a372f3a93676cf9d270bd3e56329516efdc5a35", - "size": 3670016, + "url": "https://commadist.azureedge.net/agnosupdate/xbl-dc297986b38f50c47584bd8549b188b37b1d6a0c77b3255859dd675c177b5c15.img.xz", + "hash": "dc297986b38f50c47584bd8549b188b37b1d6a0c77b3255859dd675c177b5c15", + "hash_raw": "dc297986b38f50c47584bd8549b188b37b1d6a0c77b3255859dd675c177b5c15", + "size": 3282672, "sparse": false, "full_check": true, "has_ab": true }, { "name": "xbl_config", - "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-3aa926394b4cec464300bfc0e7ab77d50889b38041138c60cd84c397930b38ad.img.xz", - "hash": "3aa926394b4cec464300bfc0e7ab77d50889b38041138c60cd84c397930b38ad", - "hash_raw": "3aa926394b4cec464300bfc0e7ab77d50889b38041138c60cd84c397930b38ad", - "size": 364544, + "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-b73fbbb42934aabc6d4f16ce84ac6c8c0205bc70e0a85412a771f3cc1d62cc40.img.xz", + "hash": "b73fbbb42934aabc6d4f16ce84ac6c8c0205bc70e0a85412a771f3cc1d62cc40", + "hash_raw": "b73fbbb42934aabc6d4f16ce84ac6c8c0205bc70e0a85412a771f3cc1d62cc40", + "size": 98124, + "sparse": false, + "full_check": true, + "has_ab": true + }, + { + "name": "devcfg", + "url": "https://commadist.azureedge.net/agnosupdate/devcfg-2d3063d106813006ac9ceeaf8818a31d4b33996873e81178ac5129f5e1b82bca.img.xz", + "hash": "2d3063d106813006ac9ceeaf8818a31d4b33996873e81178ac5129f5e1b82bca", + "hash_raw": "2d3063d106813006ac9ceeaf8818a31d4b33996873e81178ac5129f5e1b82bca", + "size": 40336, + "sparse": false, + "full_check": true, + "has_ab": true + }, + { + "name": "aop", + "url": "https://commadist.azureedge.net/agnosupdate/aop-d69450d5438b3e5e2ba5b77db1ae49e1cf9cab17836f563aa57192b5b3a4ac3e.img.xz", + "hash": "d69450d5438b3e5e2ba5b77db1ae49e1cf9cab17836f563aa57192b5b3a4ac3e", + "hash_raw": "d69450d5438b3e5e2ba5b77db1ae49e1cf9cab17836f563aa57192b5b3a4ac3e", + "size": 184364, "sparse": false, "full_check": true, "has_ab": true }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-9efdc9368f05e06008a7a1dbbee21b564e89988dc94d6ddee3a3a88e42268f0e.img.xz", - "hash": "48209ce7e8cc2fff4ec024f0cd82fc2e3e097b5c0629be2b292acf64e6701449", - "hash_raw": "9efdc9368f05e06008a7a1dbbee21b564e89988dc94d6ddee3a3a88e42268f0e", + "url": "https://commadist.azureedge.net/agnosupdate/system-4a8311dd591006e0c2a6f60060d6ef579ceec9b3d688e8438a9aef4e230ae028.img.xz", + "hash": "23c9f111f81fc3ee83f85016cb320e03a46aad6721a85e1b4a3f04b6a764e934", + "hash_raw": "4a8311dd591006e0c2a6f60060d6ef579ceec9b3d688e8438a9aef4e230ae028", "size": 10737418240, "sparse": true, "full_check": false, diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py old mode 100644 new mode 100755 index 8233834d11..5b656a40fa --- a/system/hardware/tici/amplifier.py +++ b/system/hardware/tici/amplifier.py @@ -1,5 +1,7 @@ +import time from smbus2 import SMBus from collections import namedtuple +from typing import List # https://datasheets.maximintegrated.com/en/ds/MAX98089.pdf @@ -24,13 +26,10 @@ BASE_CONFIG = [ AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000), AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000), AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011), - AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), - AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100), AmpConfig("Enable PLL1", 0b1, 0x12, 7, 0b10000000), AmpConfig("Enable PLL2", 0b1, 0x1A, 7, 0b10000000), AmpConfig("DAI1: I2S mode", 0b00100, 0x14, 2, 0b01111100), AmpConfig("DAI2: I2S mode", 0b00100, 0x1C, 2, 0b01111100), - AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111), AmpConfig("DAI1 Passband filtering: music mode", 0b1, 0x18, 7, 0b10000000), AmpConfig("DAI1 voice mode gain (DV1G)", 0b00, 0x2F, 4, 0b00110000), AmpConfig("DAI1 attenuation (DV1)", 0x0, 0x2F, 0, 0b00001111), @@ -41,7 +40,6 @@ BASE_CONFIG = [ AmpConfig("ALC/excursion limiter release time", 0b101, 0x43, 4, 0b01110000), AmpConfig("ALC multiband enable", 0b1, 0x43, 3, 0b00001000), AmpConfig("DAI1 EQ enable", 0b0, 0x49, 0, 0b00000001), - AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010), AmpConfig("DAI2 EQ clip detection disabled", 0b1, 0x32, 4, 0b00010000), AmpConfig("DAI2 EQ attenuation", 0x5, 0x32, 0, 0b00001111), AmpConfig("Excursion limiter upper corner freq", 0b100, 0x41, 4, 0b01110000), @@ -64,6 +62,11 @@ BASE_CONFIG = [ CONFIGS = { "tici": [ + AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), + AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100), + AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111), + AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010), + *configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656)), *configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF)), *configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42)), @@ -72,11 +75,13 @@ CONFIGS = { ], "tizi": [ AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111), + AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011), - AmpConfig("Left speaker output volume", 0x1F, 0x3D, 0, 0b00011111), - AmpConfig("Right speaker output volume", 0x1F, 0x3E, 0, 0b00011111), - AmpConfig("DAI1 attenuation (DV1)", 0x4, 0x2F, 0, 0b00001111), - AmpConfig("DAI2 attenuation (DV2)", 0x4, 0x31, 0, 0b00001111), + AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100), + AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111), + AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111), + + AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010), AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001), AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000), AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111), @@ -91,12 +96,6 @@ CONFIGS = { AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010), AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001), AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000), - - *configs_from_eq_params(0x84, EQParams(0x3084, 0xC023, 0x3D60, 0x042B, 0x1222)), - *configs_from_eq_params(0x8E, EQParams(0x2FB2, 0xC05C, 0x3BD3, 0x06C5, 0x16BB)), - *configs_from_eq_params(0x98, EQParams(0x21F5, 0xDF73, 0x2DFE, 0x371A, 0x2C80)), - *configs_from_eq_params(0xA2, EQParams(0x2A5A, 0x0AD0, 0x14FA, 0x3F14, 0x3C76)), - *configs_from_eq_params(0xAC, EQParams(0x1577, 0x3FAE, 0xEE60, 0x0664, 0x3D86)), ], } @@ -107,28 +106,51 @@ class Amplifier: def __init__(self, debug=False): self.debug = debug - def set_config(self, config): - with SMBus(self.AMP_I2C_BUS) as bus: - if self.debug: - print(f"Setting \"{config.name}\" to {config.value}:") - - old_value = bus.read_byte_data(self.AMP_ADDRESS, config.register, force=True) - new_value = (old_value & (~config.mask)) | ((config.value << config.offset) & config.mask) - bus.write_byte_data(self.AMP_ADDRESS, config.register, new_value, force=True) - - if self.debug: - print(f" Changed {hex(config.register)}: {hex(old_value)} -> {hex(new_value)}") + def _get_shutdown_config(self, amp_disabled: bool) -> AmpConfig: + return AmpConfig("Global shutdown", 0b0 if amp_disabled else 0b1, 0x51, 7, 0b10000000) - def set_global_shutdown(self, amp_disabled): - self.set_config(AmpConfig("Global shutdown", 0b0 if amp_disabled else 0b1, 0x51, 7, 0b10000000)) - - def initialize_configuration(self, model): - self.set_global_shutdown(amp_disabled=True) - - for config in BASE_CONFIG: - self.set_config(config) - - for config in CONFIGS[model]: - self.set_config(config) - - self.set_global_shutdown(amp_disabled=False) + def _set_configs(self, configs: List[AmpConfig]) -> None: + with SMBus(self.AMP_I2C_BUS) as bus: + for config in configs: + if self.debug: + print(f"Setting \"{config.name}\" to {config.value}:") + + old_value = bus.read_byte_data(self.AMP_ADDRESS, config.register, force=True) + new_value = (old_value & (~config.mask)) | ((config.value << config.offset) & config.mask) + bus.write_byte_data(self.AMP_ADDRESS, config.register, new_value, force=True) + + if self.debug: + print(f" Changed {hex(config.register)}: {hex(old_value)} -> {hex(new_value)}") + + def set_configs(self, configs: List[AmpConfig]) -> bool: + # retry in case panda is using the amp + tries = 15 + for i in range(15): + try: + self._set_configs(configs) + return True + except OSError: + print(f"Failed to set amp config, {tries - i - 1} retries left") + time.sleep(0.02) + return False + + def set_global_shutdown(self, amp_disabled: bool) -> bool: + return self.set_configs([self._get_shutdown_config(amp_disabled), ]) + + def initialize_configuration(self, model: str) -> bool: + cfgs = [ + self._get_shutdown_config(True), + *BASE_CONFIG, + *CONFIGS[model], + self._get_shutdown_config(False), + ] + return self.set_configs(cfgs) + + +if __name__ == "__main__": + with open("/sys/firmware/devicetree/base/model") as f: + model = f.read().strip('\x00') + model = model.split('comma ')[-1] + + amp = Amplifier() + amp.initialize_configuration(model) diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h index 5f6fb2dc50..580dc83eec 100644 --- a/system/hardware/tici/hardware.h +++ b/system/hardware/tici/hardware.h @@ -16,8 +16,16 @@ public: static std::string get_os_version() { return "AGNOS " + util::read_file("/VERSION"); }; - static std::string get_name() { return "tici"; }; - static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::TICI; }; + + static std::string get_name() { + std::string devicetree_model = util::read_file("/sys/firmware/devicetree/base/model"); + return (devicetree_model.find("tizi") != std::string::npos) ? "tizi" : "tici"; + }; + + static cereal::InitData::DeviceType get_device_type() { + return (get_name() == "tizi") ? cereal::InitData::DeviceType::TIZI : cereal::InitData::DeviceType::TICI; + }; + static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }; static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); }; @@ -65,6 +73,32 @@ public: std::system(("pactl set-sink-volume @DEFAULT_SINK@ " + std::string(volume_str)).c_str()); } + + static std::map get_init_logs() { + std::map ret = { + {"/BUILD", util::read_file("/BUILD")}, + {"lsblk", util::check_output("lsblk -o NAME,SIZE,STATE,VENDOR,MODEL,REV,SERIAL")}, + }; + + std::string bs = util::check_output("abctl --boot_slot"); + ret["boot slot"] = bs.substr(0, bs.find_first_of("\n")); + + std::string temp = util::read_file("/dev/disk/by-partlabel/ssd"); + temp.erase(temp.find_last_not_of(std::string("\0\r\n", 3))+1); + ret["boot temp"] = temp; + + // TODO: log something from system and boot + for (std::string part : {"xbl", "abl", "aop", "devcfg", "xbl_config"}) { + for (std::string slot : {"a", "b"}) { + std::string partition = part + "_" + slot; + std::string hash = util::check_output("sha256sum /dev/disk/by-partlabel/" + partition); + ret[partition] = hash.substr(0, hash.find_first_of(" ")); + } + } + + return ret; + } + static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); }; static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); }; }; diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 9c1cc930c1..d52710e950 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -4,11 +4,11 @@ import os import subprocess import time from enum import IntEnum -from functools import cached_property +from functools import cached_property, lru_cache from pathlib import Path from cereal import log -from common.gpio import gpio_set, gpio_init +from common.gpio import gpio_set, gpio_init, get_irq_for_action from system.hardware.base import HardwareBase, ThermalConfig from system.hardware.tici import iwlist from system.hardware.tici.pins import GPIO @@ -63,8 +63,14 @@ MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14 def sudo_write(val, path): os.system(f"sudo su -c 'echo {val} > {path}'") -def affine_irq(val, irq): - sudo_write(str(val), f"/proc/irq/{irq}/smp_affinity_list") + +def affine_irq(val, action): + irq = get_irq_for_action(action) + if len(irq) == 0: + print(f"No IRQs found for '{action}'") + return + for i in irq: + sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list") class Tici(HardwareBase): @@ -85,8 +91,12 @@ class Tici(HardwareBase): def amplifier(self): return Amplifier() - @cached_property - def model(self): + def get_os_version(self): + with open("/VERSION") as f: + return f.read().strip() + + @lru_cache + def get_device_type(self): with open("/sys/firmware/devicetree/base/model") as f: model = f.read().strip('\x00') model = model.split('comma ')[-1] @@ -95,13 +105,6 @@ class Tici(HardwareBase): model = 'tici' return model - def get_os_version(self): - with open("/VERSION") as f: - return f.read().strip() - - def get_device_type(self): - return "tici" - def get_sound_card_online(self): return (os.path.isfile('/proc/asound/card0/state') and open('/proc/asound/card0/state').read().strip() == 'ONLINE') @@ -418,7 +421,7 @@ class Tici(HardwareBase): # amplifier, 100mW at idle self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled) if not powersave_enabled: - self.amplifier.initialize_configuration(self.model) + self.amplifier.initialize_configuration(self.get_device_type()) # *** CPU config *** @@ -432,12 +435,20 @@ class Tici(HardwareBase): sudo_write(gov, f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor') # *** IRQ config *** - affine_irq(5, 565) # kgsl-3d0 - affine_irq(4, 126) # SPI goes on boardd core - affine_irq(4, 740) # xhci-hcd:usb1 goes on the boardd core - affine_irq(4, 1069) # xhci-hcd:usb3 goes on the boardd core - for irq in range(237, 246): - affine_irq(5, irq) # camerad + + # GPU + affine_irq(5, "kgsl-3d0") + + # boardd core + affine_irq(4, "spi_geni") # SPI + affine_irq(4, "xhci-hcd:usb3") # aux panda USB (or potentially anything else on USB) + if "tici" in self.get_device_type(): + affine_irq(4, "xhci-hcd:usb1") # internal panda USB + + # camerad core + camera_irqs = ("cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid", "csid-lite", "ife-lite") + for n in camera_irqs: + affine_irq(5, n) def get_gpu_usage_percent(self): try: @@ -447,17 +458,23 @@ class Tici(HardwareBase): return 0 def initialize_hardware(self): - self.amplifier.initialize_configuration(self.model) + self.amplifier.initialize_configuration(self.get_device_type()) # Allow thermald to write engagement status to kmsg os.system("sudo chmod a+w /dev/kmsg") + # Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL + gpio_init(GPIO.SOM_ST_IO, True) + gpio_set(GPIO.SOM_ST_IO, 1) + # *** IRQ config *** # move these off the default core - affine_irq(1, 7) # msm_drm - affine_irq(1, 250) # msm_vidc - affine_irq(1, 8) # i2c_geni (sensord) + affine_irq(1, "msm_drm") + affine_irq(1, "msm_vidc") + affine_irq(1, "i2c_geni") + + # mask off big cluster from default affinity sudo_write("f", "/proc/irq/default_smp_affinity") # *** GPU config *** @@ -543,6 +560,9 @@ class Tici(HardwareBase): except Exception: return -1, -1 + def has_internal_panda(self): + return True + def reset_internal_panda(self): gpio_init(GPIO.STM_RST_N, True) @@ -556,8 +576,9 @@ class Tici(HardwareBase): gpio_set(GPIO.STM_RST_N, 1) gpio_set(GPIO.STM_BOOT0, 1) - time.sleep(2) + time.sleep(1) gpio_set(GPIO.STM_RST_N, 0) + time.sleep(1) gpio_set(GPIO.STM_BOOT0, 0) diff --git a/system/hardware/tici/pins.py b/system/hardware/tici/pins.py index fe31b9311d..082a402f15 100644 --- a/system/hardware/tici/pins.py +++ b/system/hardware/tici/pins.py @@ -10,6 +10,8 @@ class GPIO: STM_RST_N = 124 STM_BOOT0 = 134 + SOM_ST_IO = 49 + LTE_RST_N = 50 LTE_PWRKEY = 116 LTE_BOOT = 52 diff --git a/system/hardware/tici/test_agnos_updater.py b/system/hardware/tici/tests/test_agnos_updater.py similarity index 80% rename from system/hardware/tici/test_agnos_updater.py rename to system/hardware/tici/tests/test_agnos_updater.py index e0d6ed8814..86bc78881e 100755 --- a/system/hardware/tici/test_agnos_updater.py +++ b/system/hardware/tici/tests/test_agnos_updater.py @@ -4,8 +4,8 @@ import os import unittest import requests -AGNOS_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__))) -MANIFEST = os.path.join(AGNOS_DIR, "agnos.json") +TEST_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__))) +MANIFEST = os.path.join(TEST_DIR, "../agnos.json") class TestAgnosUpdater(unittest.TestCase): diff --git a/system/hardware/tici/tests/test_amplifier.py b/system/hardware/tici/tests/test_amplifier.py new file mode 100755 index 0000000000..5d5a86c512 --- /dev/null +++ b/system/hardware/tici/tests/test_amplifier.py @@ -0,0 +1,70 @@ +#!/usr/bin/env python3 +import time +import random +import unittest +import subprocess + +from panda import Panda +from system.hardware import TICI +from system.hardware.tici.hardware import Tici +from system.hardware.tici.amplifier import Amplifier + + +class TestAmplifier(unittest.TestCase): + + @classmethod + def setUpClass(cls): + if not TICI: + raise unittest.SkipTest + + def setUp(self): + # clear dmesg + subprocess.check_call("sudo dmesg -C", shell=True) + + self.panda = Panda() + self.panda.reset() + + def tearDown(self): + self.panda.reset(reconnect=False) + + def _check_for_i2c_errors(self, expected): + dmesg = subprocess.check_output("dmesg", shell=True, encoding='utf8') + i2c_lines = [l for l in dmesg.strip().splitlines() if 'i2c_geni a88000.i2c' in l] + i2c_str = '\n'.join(i2c_lines) + if not expected: + assert len(i2c_lines) == 0 + else: + assert "i2c error :-107" in i2c_str or "Bus arbitration lost" in i2c_str + + def test_init(self): + amp = Amplifier(debug=True) + r = amp.initialize_configuration(Tici().get_device_type()) + assert r + self._check_for_i2c_errors(False) + + def test_shutdown(self): + amp = Amplifier(debug=True) + for _ in range(10): + r = amp.set_global_shutdown(True) + r = amp.set_global_shutdown(False) + assert r + self._check_for_i2c_errors(False) + + def test_init_while_siren_play(self): + for _ in range(5): + self.panda.set_siren(False) + time.sleep(0.1) + + self.panda.set_siren(True) + time.sleep(random.randint(0, 5)) + + amp = Amplifier(debug=True) + r = amp.initialize_configuration(Tici().get_device_type()) + assert r + + # make sure we're a good test + self._check_for_i2c_errors(True) + + +if __name__ == "__main__": + unittest.main() diff --git a/system/hardware/tici/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py similarity index 83% rename from system/hardware/tici/test_power_draw.py rename to system/hardware/tici/tests/test_power_draw.py index 2460152998..df4852183e 100755 --- a/system/hardware/tici/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -3,6 +3,7 @@ import unittest import time import math from dataclasses import dataclass +from tabulate import tabulate from system.hardware import HARDWARE, TICI from system.hardware.tici.power_monitor import get_power @@ -15,12 +16,12 @@ class Proc: name: str power: float rtol: float = 0.05 - atol: float = 0.1 + atol: float = 0.12 warmup: float = 6. PROCS = [ - Proc('camerad', 2.15), - Proc('modeld', 1.15, atol=0.2), + Proc('camerad', 2.1), + Proc('modeld', 0.93, atol=0.2), Proc('dmonitoringmodeld', 0.4), Proc('encoderd', 0.23), ] @@ -58,15 +59,16 @@ class TestPowerDraw(unittest.TestCase): manager_cleanup() - print("-"*35) - print(f"Baseline {baseline:.2f}W\n") + tab = [] + tab.append(['process', 'expected (W)', 'measured (W)']) for proc in PROCS: cur = used[proc.name] expected = proc.power - print(f"{proc.name.ljust(20)} {expected:.2f}W {cur:.2f}W") + tab.append([proc.name, round(expected, 2), round(cur, 2)]) with self.subTest(proc=proc.name): self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol)) - print("-"*35) + print(tabulate(tab)) + print(f"Baseline {baseline:.2f}W\n") if __name__ == "__main__": diff --git a/selfdrive/loggerd/.gitignore b/system/loggerd/.gitignore similarity index 100% rename from selfdrive/loggerd/.gitignore rename to system/loggerd/.gitignore diff --git a/selfdrive/loggerd/README.md b/system/loggerd/README.md similarity index 100% rename from selfdrive/loggerd/README.md rename to system/loggerd/README.md diff --git a/selfdrive/loggerd/SConscript b/system/loggerd/SConscript similarity index 100% rename from selfdrive/loggerd/SConscript rename to system/loggerd/SConscript diff --git a/selfdrive/sensord/tests/__init__.py b/system/loggerd/__init__.py similarity index 100% rename from selfdrive/sensord/tests/__init__.py rename to system/loggerd/__init__.py diff --git a/selfdrive/loggerd/bootlog.cc b/system/loggerd/bootlog.cc similarity index 86% rename from selfdrive/loggerd/bootlog.cc rename to system/loggerd/bootlog.cc index e882e4cf8d..becd293c02 100644 --- a/selfdrive/loggerd/bootlog.cc +++ b/system/loggerd/bootlog.cc @@ -2,8 +2,9 @@ #include #include "cereal/messaging/messaging.h" +#include "common/params.h" #include "common/swaglog.h" -#include "selfdrive/loggerd/logger.h" +#include "system/loggerd/logger.h" static kj::Array build_boot_log() { @@ -48,7 +49,8 @@ static kj::Array build_boot_log() { } int main(int argc, char** argv) { - const std::string path = LOG_ROOT + "/boot/" + logger_get_route_name(); + const std::string timestr = logger_get_route_name(); + const std::string path = LOG_ROOT + "/boot/" + timestr; LOGW("bootlog to %s", path.c_str()); // Open bootlog @@ -61,5 +63,8 @@ int main(int argc, char** argv) { // Write bootlog file.write(build_boot_log().asBytes()); + // Write out bootlog param to match routes with bootlog + Params().put("CurrentBootlog", timestr.c_str()); + return 0; } diff --git a/selfdrive/loggerd/config.py b/system/loggerd/config.py similarity index 100% rename from selfdrive/loggerd/config.py rename to system/loggerd/config.py diff --git a/selfdrive/loggerd/deleter.py b/system/loggerd/deleter.py similarity index 89% rename from selfdrive/loggerd/deleter.py rename to system/loggerd/deleter.py index 5606288024..5fb2b9eb41 100644 --- a/selfdrive/loggerd/deleter.py +++ b/system/loggerd/deleter.py @@ -3,8 +3,8 @@ import os import shutil import threading from system.swaglog import cloudlog -from selfdrive.loggerd.config import ROOT, get_available_bytes, get_available_percent -from selfdrive.loggerd.uploader import listdir_by_creation +from system.loggerd.config import ROOT, get_available_bytes, get_available_percent +from system.loggerd.uploader import listdir_by_creation MIN_BYTES = 5 * 1024 * 1024 * 1024 MIN_PERCENT = 10 diff --git a/selfdrive/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc similarity index 98% rename from selfdrive/loggerd/encoder/encoder.cc rename to system/loggerd/encoder/encoder.cc index 943f37803d..08eaf0ff01 100644 --- a/selfdrive/loggerd/encoder/encoder.cc +++ b/system/loggerd/encoder/encoder.cc @@ -1,5 +1,5 @@ #include -#include "selfdrive/loggerd/encoder/encoder.h" +#include "system/loggerd/encoder/encoder.h" VideoEncoder::~VideoEncoder() {} diff --git a/selfdrive/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h similarity index 97% rename from selfdrive/loggerd/encoder/encoder.h rename to system/loggerd/encoder/encoder.h index 21ef65cf12..88dd5cee23 100644 --- a/selfdrive/loggerd/encoder/encoder.h +++ b/system/loggerd/encoder/encoder.h @@ -7,7 +7,7 @@ #include "cereal/messaging/messaging.h" #include "cereal/visionipc/visionipc.h" #include "common/queue.h" -#include "selfdrive/loggerd/video_writer.h" +#include "system/loggerd/video_writer.h" #include "system/camerad/cameras/camera_common.h" #define V4L2_BUF_FLAG_KEYFRAME 8 diff --git a/selfdrive/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc similarity index 98% rename from selfdrive/loggerd/encoder/ffmpeg_encoder.cc rename to system/loggerd/encoder/ffmpeg_encoder.cc index 5f8d140e8b..275da34f18 100644 --- a/selfdrive/loggerd/encoder/ffmpeg_encoder.cc +++ b/system/loggerd/encoder/ffmpeg_encoder.cc @@ -1,6 +1,6 @@ #pragma clang diagnostic ignored "-Wdeprecated-declarations" -#include "selfdrive/loggerd/encoder/ffmpeg_encoder.h" +#include "system/loggerd/encoder/ffmpeg_encoder.h" #include #include diff --git a/selfdrive/loggerd/encoder/ffmpeg_encoder.h b/system/loggerd/encoder/ffmpeg_encoder.h similarity index 92% rename from selfdrive/loggerd/encoder/ffmpeg_encoder.h rename to system/loggerd/encoder/ffmpeg_encoder.h index 497a28b651..9095a6e815 100644 --- a/selfdrive/loggerd/encoder/ffmpeg_encoder.h +++ b/system/loggerd/encoder/ffmpeg_encoder.h @@ -11,8 +11,8 @@ extern "C" { #include } -#include "selfdrive/loggerd/encoder/encoder.h" -#include "selfdrive/loggerd/loggerd.h" +#include "system/loggerd/encoder/encoder.h" +#include "system/loggerd/loggerd.h" class FfmpegEncoder : public VideoEncoder { public: diff --git a/selfdrive/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc similarity index 99% rename from selfdrive/loggerd/encoder/v4l_encoder.cc rename to system/loggerd/encoder/v4l_encoder.cc index 88aeb21256..16e7246ff4 100644 --- a/selfdrive/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -2,7 +2,7 @@ #include #include -#include "selfdrive/loggerd/encoder/v4l_encoder.h" +#include "system/loggerd/encoder/v4l_encoder.h" #include "common/util.h" #include "common/timing.h" diff --git a/selfdrive/loggerd/encoder/v4l_encoder.h b/system/loggerd/encoder/v4l_encoder.h similarity index 95% rename from selfdrive/loggerd/encoder/v4l_encoder.h rename to system/loggerd/encoder/v4l_encoder.h index c2a53dd6ef..d4b0a1211d 100644 --- a/selfdrive/loggerd/encoder/v4l_encoder.h +++ b/system/loggerd/encoder/v4l_encoder.h @@ -1,7 +1,7 @@ #pragma once #include "common/queue.h" -#include "selfdrive/loggerd/encoder/encoder.h" +#include "system/loggerd/encoder/encoder.h" #define BUF_IN_COUNT 7 #define BUF_OUT_COUNT 6 diff --git a/selfdrive/loggerd/encoderd.cc b/system/loggerd/encoderd.cc similarity index 99% rename from selfdrive/loggerd/encoderd.cc rename to system/loggerd/encoderd.cc index db5f4b61ab..12b58b6591 100644 --- a/selfdrive/loggerd/encoderd.cc +++ b/system/loggerd/encoderd.cc @@ -1,4 +1,4 @@ -#include "selfdrive/loggerd/loggerd.h" +#include "system/loggerd/loggerd.h" ExitHandler do_exit; diff --git a/selfdrive/loggerd/logger.cc b/system/loggerd/logger.cc similarity index 95% rename from selfdrive/loggerd/logger.cc rename to system/loggerd/logger.cc index aaf267e523..a3152aa88a 100644 --- a/selfdrive/loggerd/logger.cc +++ b/system/loggerd/logger.cc @@ -1,4 +1,4 @@ -#include "selfdrive/loggerd/logger.h" +#include "system/loggerd/logger.h" #include #include @@ -70,7 +70,9 @@ kj::Array logger_build_init_data() { "df -h", // usage for all filesystems }; - auto commands = init.initCommands().initEntries(log_commands.size()); + auto hw_logs = Hardware::get_init_logs(); + + auto commands = init.initCommands().initEntries(log_commands.size() + hw_logs.size()); for (int i = 0; i < log_commands.size(); i++) { auto lentry = commands[i]; @@ -80,6 +82,14 @@ kj::Array logger_build_init_data() { lentry.setValue(capnp::Data::Reader((const kj::byte*)result.data(), result.size())); } + int i = log_commands.size(); + for (auto [key, value] : hw_logs) { + auto lentry = commands[i]; + lentry.setKey(key); + lentry.setValue(capnp::Data::Reader((const kj::byte*)value.data(), value.size())); + i++; + } + return capnp::messageToFlatArray(msg); } diff --git a/selfdrive/loggerd/logger.h b/system/loggerd/logger.h similarity index 100% rename from selfdrive/loggerd/logger.h rename to system/loggerd/logger.h diff --git a/selfdrive/loggerd/loggerd.cc b/system/loggerd/loggerd.cc similarity index 99% rename from selfdrive/loggerd/loggerd.cc rename to system/loggerd/loggerd.cc index e09cdfaa9e..a7f7db4801 100644 --- a/selfdrive/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -1,5 +1,5 @@ -#include "selfdrive/loggerd/loggerd.h" -#include "selfdrive/loggerd/video_writer.h" +#include "system/loggerd/loggerd.h" +#include "system/loggerd/video_writer.h" ExitHandler do_exit; diff --git a/selfdrive/loggerd/loggerd.h b/system/loggerd/loggerd.h similarity index 92% rename from selfdrive/loggerd/loggerd.h rename to system/loggerd/loggerd.h index 1fa6349828..1b8f9e0d2a 100644 --- a/selfdrive/loggerd/loggerd.h +++ b/system/loggerd/loggerd.h @@ -23,13 +23,13 @@ #include "common/util.h" #include "system/hardware/hw.h" -#include "selfdrive/loggerd/encoder/encoder.h" -#include "selfdrive/loggerd/logger.h" +#include "system/loggerd/encoder/encoder.h" +#include "system/loggerd/logger.h" #ifdef QCOM2 -#include "selfdrive/loggerd/encoder/v4l_encoder.h" +#include "system/loggerd/encoder/v4l_encoder.h" #define Encoder V4LEncoder #else -#include "selfdrive/loggerd/encoder/ffmpeg_encoder.h" +#include "system/loggerd/encoder/ffmpeg_encoder.h" #define Encoder FfmpegEncoder #endif diff --git a/system/loggerd/tests/__init__.py b/system/loggerd/tests/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/loggerd/tests/fill_eon.py b/system/loggerd/tests/fill_eon.py similarity index 79% rename from selfdrive/loggerd/tests/fill_eon.py rename to system/loggerd/tests/fill_eon.py index b40982fa9f..e0c52ea0d7 100755 --- a/selfdrive/loggerd/tests/fill_eon.py +++ b/system/loggerd/tests/fill_eon.py @@ -3,8 +3,8 @@ import os -from selfdrive.loggerd.config import ROOT, get_available_percent -from selfdrive.loggerd.tests.loggerd_tests_common import create_random_file +from system.loggerd.config import ROOT, get_available_percent +from system.loggerd.tests.loggerd_tests_common import create_random_file if __name__ == "__main__": diff --git a/selfdrive/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py similarity index 89% rename from selfdrive/loggerd/tests/loggerd_tests_common.py rename to system/loggerd/tests/loggerd_tests_common.py index 80cfb162f1..780316ad0c 100644 --- a/selfdrive/loggerd/tests/loggerd_tests_common.py +++ b/system/loggerd/tests/loggerd_tests_common.py @@ -5,9 +5,9 @@ import random import tempfile import unittest -import selfdrive.loggerd.uploader as uploader +import system.loggerd.uploader as uploader -def create_random_file(file_path, size_mb, lock=False): +def create_random_file(file_path, size_mb, lock=False, xattr=None): try: os.mkdir(os.path.dirname(file_path)) except OSError: @@ -25,6 +25,9 @@ def create_random_file(file_path, size_mb, lock=False): for _ in range(chunks): f.write(data) + if xattr is not None: + uploader.setxattr(file_path, uploader.UPLOAD_ATTR_NAME, xattr) + class MockResponse(): def __init__(self, text, status_code): self.text = text @@ -95,8 +98,8 @@ class UploaderTestCase(unittest.TestCase): if e.errno != errno.ENOENT: raise - def make_file_with_data(self, f_dir, fn, size_mb=.1, lock=False): + def make_file_with_data(self, f_dir, fn, size_mb=.1, lock=False, xattr=None): file_path = os.path.join(self.root, f_dir, fn) - create_random_file(file_path, size_mb, lock) + create_random_file(file_path, size_mb, lock, xattr) return file_path diff --git a/selfdrive/loggerd/tests/test_deleter.py b/system/loggerd/tests/test_deleter.py similarity index 96% rename from selfdrive/loggerd/tests/test_deleter.py rename to system/loggerd/tests/test_deleter.py index 80fb5c997f..5b54a43f3b 100755 --- a/selfdrive/loggerd/tests/test_deleter.py +++ b/system/loggerd/tests/test_deleter.py @@ -6,8 +6,8 @@ import unittest from collections import namedtuple from common.timeout import Timeout, TimeoutException -import selfdrive.loggerd.deleter as deleter -from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase +import system.loggerd.deleter as deleter +from system.loggerd.tests.loggerd_tests_common import UploaderTestCase Stats = namedtuple("Stats", ['f_bavail', 'f_blocks', 'f_frsize']) diff --git a/selfdrive/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py similarity index 99% rename from selfdrive/loggerd/tests/test_encoder.py rename to system/loggerd/tests/test_encoder.py index 1b9bcef2d7..81f4e9fb9d 100755 --- a/selfdrive/loggerd/tests/test_encoder.py +++ b/system/loggerd/tests/test_encoder.py @@ -14,7 +14,7 @@ from tqdm import trange from common.params import Params from common.timeout import Timeout from system.hardware import TICI -from selfdrive.loggerd.config import ROOT +from system.loggerd.config import ROOT from selfdrive.manager.process_config import managed_processes from tools.lib.logreader import LogReader diff --git a/selfdrive/loggerd/tests/test_logger.cc b/system/loggerd/tests/test_logger.cc similarity index 99% rename from selfdrive/loggerd/tests/test_logger.cc rename to system/loggerd/tests/test_logger.cc index ba7835d632..9c82299091 100644 --- a/selfdrive/loggerd/tests/test_logger.cc +++ b/system/loggerd/tests/test_logger.cc @@ -9,7 +9,7 @@ #include "catch2/catch.hpp" #include "cereal/messaging/messaging.h" #include "common/util.h" -#include "selfdrive/loggerd/logger.h" +#include "system/loggerd/logger.h" #include "tools/replay/util.h" typedef cereal::Sentinel::SentinelType SentinelType; diff --git a/selfdrive/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py similarity index 96% rename from selfdrive/loggerd/tests/test_loggerd.py rename to system/loggerd/tests/test_loggerd.py index 9c3565d130..a2166016e0 100755 --- a/selfdrive/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -15,7 +15,7 @@ from cereal.services import service_list from common.basedir import BASEDIR from common.params import Params from common.timeout import Timeout -from selfdrive.loggerd.config import ROOT +from system.loggerd.config import ROOT from selfdrive.manager.process_config import managed_processes from system.version import get_version from tools.lib.logreader import LogReader @@ -51,7 +51,7 @@ class TestLoggerd(unittest.TestCase): def _gen_bootlog(self): with Timeout(5): - out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd"), encoding='utf-8') + out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), encoding='utf-8') log_fn = self._get_log_fn(out) @@ -86,7 +86,7 @@ class TestLoggerd(unittest.TestCase): params.clear_all() for k, _, v in fake_params: params.put(k, v) - params.put("LaikadEphemeris", "abc") + params.put("LaikadEphemerisV3", "abc") lr = list(LogReader(str(self._gen_bootlog()))) initData = lr[0].initData @@ -103,14 +103,14 @@ class TestLoggerd(unittest.TestCase): # check params logged_params = {entry.key: entry.value for entry in initData.params.entries} - expected_params = set(k for k, _, __ in fake_params) | {'LaikadEphemeris'} + expected_params = set(k for k, _, __ in fake_params) | {'LaikadEphemerisV3'} assert set(logged_params.keys()) == expected_params, set(logged_params.keys()) ^ expected_params - assert logged_params['LaikadEphemeris'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['LaikadEphemeris'])}" + assert logged_params['LaikadEphemerisV3'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['LaikadEphemerisV3'])}" for param_key, initData_key, v in fake_params: self.assertEqual(getattr(initData, initData_key), v) self.assertEqual(logged_params[param_key].decode(), v) - params.put("LaikadEphemeris", "") + params.put("LaikadEphemerisV3", "") def test_rotation(self): os.environ["LOGGERD_TEST"] = "1" @@ -133,6 +133,7 @@ class TestLoggerd(unittest.TestCase): os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length) managed_processes["loggerd"].start() managed_processes["encoderd"].start() + time.sleep(1) fps = 20.0 for n in range(1, int(num_segs*length*fps)+1): diff --git a/selfdrive/loggerd/tests/test_runner.cc b/system/loggerd/tests/test_runner.cc similarity index 100% rename from selfdrive/loggerd/tests/test_runner.cc rename to system/loggerd/tests/test_runner.cc diff --git a/selfdrive/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py similarity index 68% rename from selfdrive/loggerd/tests/test_uploader.py rename to system/loggerd/tests/test_uploader.py index 6090bbe2aa..df99651447 100755 --- a/selfdrive/loggerd/tests/test_uploader.py +++ b/system/loggerd/tests/test_uploader.py @@ -7,9 +7,9 @@ import logging import json from system.swaglog import cloudlog -import selfdrive.loggerd.uploader as uploader +from system.loggerd.uploader import uploader_fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE -from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase +from system.loggerd.tests.loggerd_tests_common import UploaderTestCase class TestLogHandler(logging.Handler): @@ -42,7 +42,7 @@ class TestUploader(UploaderTestCase): def start_thread(self): self.end_event = threading.Event() - self.up_thread = threading.Thread(target=uploader.uploader_fn, args=[self.end_event]) + self.up_thread = threading.Thread(target=uploader_fn, args=[self.end_event]) self.up_thread.daemon = True self.up_thread.start() @@ -50,13 +50,13 @@ class TestUploader(UploaderTestCase): self.end_event.set() self.up_thread.join() - def gen_files(self, lock=False, boot=True): + def gen_files(self, lock=False, xattr=None, boot=True): f_paths = list() for t in ["qlog", "rlog", "dcamera.hevc", "fcamera.hevc"]: - f_paths.append(self.make_file_with_data(self.seg_dir, t, 1, lock=lock)) + f_paths.append(self.make_file_with_data(self.seg_dir, t, 1, lock=lock, xattr=xattr)) if boot: - f_paths.append(self.make_file_with_data("boot", f"{self.seg_dir}", 1, lock=lock)) + f_paths.append(self.make_file_with_data("boot", f"{self.seg_dir}", 1, lock=lock, xattr=xattr)) return f_paths def gen_order(self, seg1, seg2, boot=True): @@ -82,7 +82,25 @@ class TestUploader(UploaderTestCase): self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload") self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice") for f_path in exp_order: - self.assertTrue(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), uploader.UPLOAD_ATTR_NAME), "All files not uploaded") + self.assertEqual(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded") + + self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order") + + def test_upload_with_wrong_xattr(self): + self.gen_files(lock=False, xattr=b'0') + + self.start_thread() + # allow enough time that files could upload twice if there is a bug in the logic + time.sleep(5) + self.join_thread() + + exp_order = self.gen_order([self.seg_num], []) + + self.assertTrue(len(log_handler.upload_ignored) == 0, "Some files were ignored") + self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload") + self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice") + for f_path in exp_order: + self.assertEqual(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded") self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order") @@ -101,7 +119,7 @@ class TestUploader(UploaderTestCase): self.assertFalse(len(log_handler.upload_ignored) < len(exp_order), "Some files failed to ignore") self.assertFalse(len(log_handler.upload_ignored) > len(exp_order), "Some files were ignored twice") for f_path in exp_order: - self.assertTrue(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), uploader.UPLOAD_ATTR_NAME), "All files not ignored") + self.assertEqual(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not ignored") self.assertTrue(log_handler.upload_ignored == exp_order, "Files ignored in wrong order") @@ -126,7 +144,7 @@ class TestUploader(UploaderTestCase): self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload") self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice") for f_path in exp_order: - self.assertTrue(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), uploader.UPLOAD_ATTR_NAME), "All files not uploaded") + self.assertEqual(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded") self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order") @@ -141,9 +159,20 @@ class TestUploader(UploaderTestCase): self.join_thread() for f_path in f_paths: - uploaded = uploader.UPLOAD_ATTR_NAME in os.listxattr(f_path.replace('.bz2', '')) + fn = f_path.replace('.bz2', '') + uploaded = UPLOAD_ATTR_NAME in os.listxattr(fn) and os.getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE self.assertFalse(uploaded, "File upload when locked") + def test_no_upload_with_xattr(self): + self.gen_files(lock=False, xattr=UPLOAD_ATTR_VALUE) + + self.start_thread() + # allow enough time that files could upload twice if there is a bug in the logic + time.sleep(5) + self.join_thread() + + self.assertEqual(len(log_handler.upload_order), 0, "File uploaded again") + def test_clear_locks_on_startup(self): f_paths = self.gen_files(lock=True, boot=False) self.start_thread() diff --git a/selfdrive/loggerd/tools/mark_all_uploaded.py b/system/loggerd/tools/mark_all_uploaded.py similarity index 60% rename from selfdrive/loggerd/tools/mark_all_uploaded.py rename to system/loggerd/tools/mark_all_uploaded.py index e60e6cfa2c..c963014748 100644 --- a/selfdrive/loggerd/tools/mark_all_uploaded.py +++ b/system/loggerd/tools/mark_all_uploaded.py @@ -1,7 +1,7 @@ import os -from selfdrive.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE +from system.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE -from selfdrive.loggerd.config import ROOT +from system.loggerd.config import ROOT for folder in os.walk(ROOT): for file1 in folder[2]: full_path = os.path.join(folder[0], file1) diff --git a/selfdrive/loggerd/tools/mark_unuploaded.py b/system/loggerd/tools/mark_unuploaded.py similarity index 70% rename from selfdrive/loggerd/tools/mark_unuploaded.py rename to system/loggerd/tools/mark_unuploaded.py index 343805d5fc..3d1d4472b0 100755 --- a/selfdrive/loggerd/tools/mark_unuploaded.py +++ b/system/loggerd/tools/mark_unuploaded.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import os import sys -from selfdrive.loggerd.uploader import UPLOAD_ATTR_NAME +from system.loggerd.uploader import UPLOAD_ATTR_NAME for fn in sys.argv[1:]: print(f"unmarking {fn}") diff --git a/selfdrive/loggerd/uploader.py b/system/loggerd/uploader.py similarity index 78% rename from selfdrive/loggerd/uploader.py rename to system/loggerd/uploader.py index f97bafecb9..245e5cbcf9 100644 --- a/selfdrive/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -9,6 +9,7 @@ import threading import time import traceback from pathlib import Path +from typing import BinaryIO, Iterator, List, Optional, Tuple, Union from cereal import log import cereal.messaging as messaging @@ -16,8 +17,8 @@ from common.api import Api from common.params import Params from common.realtime import set_core_affinity from system.hardware import TICI -from selfdrive.loggerd.xattr_cache import getxattr, setxattr -from selfdrive.loggerd.config import ROOT +from system.loggerd.xattr_cache import getxattr, setxattr +from system.loggerd.config import ROOT from system.swaglog import cloudlog NetworkType = log.DeviceState.NetworkType @@ -31,10 +32,23 @@ force_wifi = os.getenv("FORCEWIFI") is not None fake_upload = os.getenv("FAKEUPLOAD") is not None -def get_directory_sort(d): +class FakeRequest: + def __init__(self): + self.headers = {"Content-Length": "0"} + + +class FakeResponse: + def __init__(self): + self.status_code = 200 + self.request = FakeRequest() + + +UploadResponse = Union[requests.Response, FakeResponse] + +def get_directory_sort(d: str) -> List[str]: return list(map(lambda s: s.rjust(10, '0'), d.rsplit('--', 1))) -def listdir_by_creation(d): +def listdir_by_creation(d: str) -> List[str]: try: paths = os.listdir(d) paths = sorted(paths, key=get_directory_sort) @@ -43,7 +57,7 @@ def listdir_by_creation(d): cloudlog.exception("listdir_by_creation failed") return list() -def clear_locks(root): +def clear_locks(root: str) -> None: for logname in os.listdir(root): path = os.path.join(root, logname) try: @@ -54,16 +68,14 @@ def clear_locks(root): cloudlog.exception("clear_locks failed") -class Uploader(): - def __init__(self, dongle_id, root): +class Uploader: + def __init__(self, dongle_id: str, root: str): self.dongle_id = dongle_id self.api = Api(dongle_id) self.root = root - self.upload_thread = None - - self.last_resp = None - self.last_exc = None + self.last_resp: Optional[UploadResponse] = None + self.last_exc: Optional[Tuple[Exception, str]] = None self.immediate_size = 0 self.immediate_count = 0 @@ -76,12 +88,12 @@ class Uploader(): self.immediate_folders = ["crash/", "boot/"] self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1} - def get_upload_sort(self, name): + def get_upload_sort(self, name: str) -> int: if name in self.immediate_priority: return self.immediate_priority[name] return 1000 - def list_upload_files(self): + def list_upload_files(self) -> Iterator[Tuple[str, str, str]]: if not os.path.isdir(self.root): return @@ -103,7 +115,7 @@ class Uploader(): fn = os.path.join(path, name) # skip files already uploaded try: - is_uploaded = getxattr(fn, UPLOAD_ATTR_NAME) + is_uploaded = getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE except OSError: cloudlog.event("uploader_getxattr_failed", exc=self.last_exc, key=key, fn=fn) is_uploaded = True # deleter could have deleted @@ -117,22 +129,22 @@ class Uploader(): except OSError: pass - yield (name, key, fn) + yield name, key, fn - def next_file_to_upload(self): + def next_file_to_upload(self) -> Optional[Tuple[str, str, str]]: upload_files = list(self.list_upload_files()) for name, key, fn in upload_files: if any(f in fn for f in self.immediate_folders): - return (name, key, fn) + return name, key, fn for name, key, fn in upload_files: if name in self.immediate_priority: - return (name, key, fn) + return name, key, fn return None - def do_upload(self, key, fn): + def do_upload(self, key: str, fn: str) -> None: try: url_resp = self.api.get("v1.4/" + self.dongle_id + "/upload_url/", timeout=10, path=key, access_token=self.api.get_token()) if url_resp.status_code == 412: @@ -146,17 +158,13 @@ class Uploader(): if fake_upload: cloudlog.debug(f"*** WARNING, THIS IS A FAKE UPLOAD TO {url} ***") - - class FakeResponse(): - def __init__(self): - self.status_code = 200 - self.last_resp = FakeResponse() else: with open(fn, "rb") as f: + data: BinaryIO if key.endswith('.bz2') and not fn.endswith('.bz2'): - data = bz2.compress(f.read()) - data = io.BytesIO(data) + compressed = bz2.compress(f.read()) + data = io.BytesIO(compressed) else: data = f @@ -165,7 +173,7 @@ class Uploader(): self.last_exc = (e, traceback.format_exc()) raise - def normal_upload(self, key, fn): + def normal_upload(self, key: str, fn: str) -> Optional[UploadResponse]: self.last_resp = None self.last_exc = None @@ -176,7 +184,7 @@ class Uploader(): return self.last_resp - def upload(self, name, key, fn, network_type, metered): + def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool: try: sz = os.path.getsize(fn) except OSError: @@ -197,9 +205,14 @@ class Uploader(): if stat is not None and stat.status_code in (200, 201, 401, 403, 412): self.last_filename = fn self.last_time = time.monotonic() - start_time - self.last_speed = (sz / 1e6) / self.last_time + if stat.status_code == 412: + self.last_speed = 0 + cloudlog.event("upload_ignored", key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) + else: + content_length = int(stat.request.headers.get("Content-Length", 0)) + self.last_speed = (content_length / 1e6) / self.last_time + cloudlog.event("upload_success", key=key, fn=fn, sz=sz, content_length=content_length, network_type=network_type, metered=metered, speed=self.last_speed) success = True - cloudlog.event("upload_success" if stat.status_code != 412 else "upload_ignored", key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) else: success = False cloudlog.event("upload_failed", stat=stat, exc=self.last_exc, key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) @@ -224,7 +237,7 @@ class Uploader(): return msg -def uploader_fn(exit_event): +def uploader_fn(exit_event: threading.Event) -> None: try: set_core_affinity([0, 1, 2, 3]) except Exception: @@ -279,7 +292,7 @@ def uploader_fn(exit_event): pm.send("uploaderState", uploader.get_msg()) -def main(): +def main() -> None: uploader_fn(threading.Event()) diff --git a/selfdrive/loggerd/video_writer.cc b/system/loggerd/video_writer.cc similarity index 98% rename from selfdrive/loggerd/video_writer.cc rename to system/loggerd/video_writer.cc index 4f79ccafc8..91bf09355f 100644 --- a/selfdrive/loggerd/video_writer.cc +++ b/system/loggerd/video_writer.cc @@ -2,7 +2,7 @@ #include #include -#include "selfdrive/loggerd/video_writer.h" +#include "system/loggerd/video_writer.h" #include "common/swaglog.h" #include "common/util.h" diff --git a/selfdrive/loggerd/video_writer.h b/system/loggerd/video_writer.h similarity index 100% rename from selfdrive/loggerd/video_writer.h rename to system/loggerd/video_writer.h diff --git a/selfdrive/loggerd/xattr_cache.py b/system/loggerd/xattr_cache.py similarity index 100% rename from selfdrive/loggerd/xattr_cache.py rename to system/loggerd/xattr_cache.py diff --git a/system/sensord/.gitignore b/system/sensord/.gitignore new file mode 100644 index 0000000000..e9b8071b4b --- /dev/null +++ b/system/sensord/.gitignore @@ -0,0 +1 @@ +_sensord diff --git a/selfdrive/sensord/SConscript b/system/sensord/SConscript similarity index 100% rename from selfdrive/sensord/SConscript rename to system/sensord/SConscript diff --git a/system/sensord/__init__.py b/system/sensord/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/sensord/pigeond.py b/system/sensord/pigeond.py similarity index 99% rename from selfdrive/sensord/pigeond.py rename to system/sensord/pigeond.py index 9d0a62bd3b..c9ad7ff22a 100755 --- a/selfdrive/sensord/pigeond.py +++ b/system/sensord/pigeond.py @@ -183,6 +183,7 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool: pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C") pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70") pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74") + pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x01\x35\x01\x41\xAD") cloudlog.debug("pigeon configured") # try restoring almanac backup diff --git a/selfdrive/sensord/rawgps/compare.py b/system/sensord/rawgps/compare.py similarity index 100% rename from selfdrive/sensord/rawgps/compare.py rename to system/sensord/rawgps/compare.py diff --git a/selfdrive/sensord/rawgps/modemdiag.py b/system/sensord/rawgps/modemdiag.py similarity index 100% rename from selfdrive/sensord/rawgps/modemdiag.py rename to system/sensord/rawgps/modemdiag.py diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/system/sensord/rawgps/rawgpsd.py similarity index 87% rename from selfdrive/sensord/rawgps/rawgpsd.py rename to system/sensord/rawgps/rawgpsd.py index 3fa5e927a2..539a6308a7 100755 --- a/selfdrive/sensord/rawgps/rawgpsd.py +++ b/system/sensord/rawgps/rawgpsd.py @@ -5,7 +5,9 @@ import signal import itertools import math import time +import pycurl import subprocess +from datetime import datetime from typing import NoReturn from struct import unpack_from, calcsize, pack @@ -15,8 +17,8 @@ from common.gpio import gpio_init, gpio_set from laika.gps_time import GPSTime from system.hardware.tici.pins import GPIO from system.swaglog import cloudlog -from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv -from selfdrive.sensord.rawgps.structs import (dict_unpacker, position_report, relist, +from system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv +from system.sensord.rawgps.structs import (dict_unpacker, position_report, relist, gps_measurement_report, gps_measurement_report_sv, glonass_measurement_report, glonass_measurement_report_sv, oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report, @@ -107,6 +109,38 @@ def gps_enabled() -> bool: except subprocess.CalledProcessError as exc: raise Exception("failed to execute QGPS mmcli command") from exc +def download_and_inject_assistance(): + assist_data_file = '/tmp/xtra3grc.bin' + assistance_url = 'http://xtrapath3.izatcloud.net/xtra3grc.bin' + try: + c = pycurl.Curl() + c.setopt(c.URL, assistance_url) + c.setopt(c.NOBODY, 1) + c.setopt(pycurl.CONNECTTIMEOUT, 2) + c.perform() + c.close() + bytes_n = c.getinfo(c.CONTENT_LENGTH_DOWNLOAD) + if bytes_n > 1e5: + cloudlog.exception("Qcom assistance data larger than expected") + return + with open(assist_data_file, "wb") as fp: + c = pycurl.Curl() + c.setopt(pycurl.URL, assistance_url) + c.setopt(pycurl.CONNECTTIMEOUT, 5) + + c.setopt(pycurl.WRITEDATA, fp) + c.perform() + c.close() + except pycurl.error as e: + cloudlog.exception(f'Failed to download assistance file with error: {e}') + if os.path.isfile(assist_data_file): + try: + subprocess.check_call(f"mmcli -m any --timeout 30 --location-inject-assistance-data={assist_data_file}", shell=True) + except subprocess.CalledProcessError: + cloudlog.exception("rawgps.mmcli_command_failed") + if os.path.isfile(assist_data_file): + os.remove(assist_data_file) + def setup_quectel(diag: ModemDiag): # enable OEMDRE in the NV # TODO: it has to reboot for this to take effect @@ -120,13 +154,20 @@ def setup_quectel(diag: ModemDiag): if gps_enabled(): at_cmd("AT+QGPSEND") + #at_cmd("AT+QGPSDEL=0") # disable DPO power savings for more accuracy at_cmd("AT+QGPSCFG=\"dpoenable\",0") # don't automatically turn on GNSS on powerup at_cmd("AT+QGPSCFG=\"autogps\",0") - at_cmd("AT+QGPSSUPLURL=\"supl.google.com:7275\"") + # Do internet assistance + at_cmd("AT+QGPSXTRA=1") + download_and_inject_assistance() + #at_cmd("AT+QGPSXTRADATA?") + time_str = datetime.utcnow().strftime("%Y/%m/%d,%H:%M:%S") + at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000") + at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"") at_cmd("AT+QGPS=1") @@ -270,7 +311,6 @@ def main() -> NoReturn: msg = messaging.new_message('gpsLocation') gps = msg.gpsLocation - gps.flags = 1 gps.latitude = report["t_DblFinalPosLatLon[0]"] * 180/math.pi gps.longitude = report["t_DblFinalPosLatLon[1]"] * 180/math.pi gps.altitude = report["q_FltFinalPosAlt"] @@ -283,6 +323,8 @@ def main() -> NoReturn: gps.verticalAccuracy = report["q_FltVdop"] gps.bearingAccuracyDeg = report["q_FltHeadingUncRad"] * 180/math.pi gps.speedAccuracy = math.sqrt(sum([x**2 for x in vNEDsigma])) + # quectel gps verticalAccuracy is clipped to 500, set invalid if so + gps.flags = 1 if gps.verticalAccuracy != 500 else 0 pm.send('gpsLocation', msg) diff --git a/selfdrive/sensord/rawgps/structs.py b/system/sensord/rawgps/structs.py similarity index 100% rename from selfdrive/sensord/rawgps/structs.py rename to system/sensord/rawgps/structs.py diff --git a/selfdrive/sensord/rawgps/test_rawgps.py b/system/sensord/rawgps/test_rawgps.py similarity index 100% rename from selfdrive/sensord/rawgps/test_rawgps.py rename to system/sensord/rawgps/test_rawgps.py diff --git a/selfdrive/sensord/sensord b/system/sensord/sensord similarity index 100% rename from selfdrive/sensord/sensord rename to system/sensord/sensord diff --git a/selfdrive/sensord/sensors/bmx055_accel.cc b/system/sensord/sensors/bmx055_accel.cc similarity index 100% rename from selfdrive/sensord/sensors/bmx055_accel.cc rename to system/sensord/sensors/bmx055_accel.cc diff --git a/selfdrive/sensord/sensors/bmx055_accel.h b/system/sensord/sensors/bmx055_accel.h similarity index 96% rename from selfdrive/sensord/sensors/bmx055_accel.h rename to system/sensord/sensors/bmx055_accel.h index 8ef660a99f..2cc316e992 100644 --- a/selfdrive/sensord/sensors/bmx055_accel.h +++ b/system/sensord/sensors/bmx055_accel.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define BMX055_ACCEL_I2C_ADDR 0x18 diff --git a/selfdrive/sensord/sensors/bmx055_gyro.cc b/system/sensord/sensors/bmx055_gyro.cc similarity index 100% rename from selfdrive/sensord/sensors/bmx055_gyro.cc rename to system/sensord/sensors/bmx055_gyro.cc diff --git a/selfdrive/sensord/sensors/bmx055_gyro.h b/system/sensord/sensors/bmx055_gyro.h similarity index 95% rename from selfdrive/sensord/sensors/bmx055_gyro.h rename to system/sensord/sensors/bmx055_gyro.h index 80b93f128c..7be3e56563 100644 --- a/selfdrive/sensord/sensors/bmx055_gyro.h +++ b/system/sensord/sensors/bmx055_gyro.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define BMX055_GYRO_I2C_ADDR 0x68 diff --git a/selfdrive/sensord/sensors/bmx055_magn.cc b/system/sensord/sensors/bmx055_magn.cc similarity index 100% rename from selfdrive/sensord/sensors/bmx055_magn.cc rename to system/sensord/sensors/bmx055_magn.cc diff --git a/selfdrive/sensord/sensors/bmx055_magn.h b/system/sensord/sensors/bmx055_magn.h similarity index 97% rename from selfdrive/sensord/sensors/bmx055_magn.h rename to system/sensord/sensors/bmx055_magn.h index e4a79bc7e0..15c4e734b9 100644 --- a/selfdrive/sensord/sensors/bmx055_magn.h +++ b/system/sensord/sensors/bmx055_magn.h @@ -1,7 +1,7 @@ #pragma once #include -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define BMX055_MAGN_I2C_ADDR 0x10 diff --git a/selfdrive/sensord/sensors/bmx055_temp.cc b/system/sensord/sensors/bmx055_temp.cc similarity index 94% rename from selfdrive/sensord/sensors/bmx055_temp.cc rename to system/sensord/sensors/bmx055_temp.cc index 95b8068ac1..68ee0da1d6 100644 --- a/selfdrive/sensord/sensors/bmx055_temp.cc +++ b/system/sensord/sensors/bmx055_temp.cc @@ -2,7 +2,7 @@ #include -#include "selfdrive/sensord/sensors/bmx055_accel.h" +#include "system/sensord/sensors/bmx055_accel.h" #include "common/swaglog.h" #include "common/timing.h" diff --git a/selfdrive/sensord/sensors/bmx055_temp.h b/system/sensord/sensors/bmx055_temp.h similarity index 71% rename from selfdrive/sensord/sensors/bmx055_temp.h rename to system/sensord/sensors/bmx055_temp.h index 0b6802deaa..a2eabae395 100644 --- a/selfdrive/sensord/sensors/bmx055_temp.h +++ b/system/sensord/sensors/bmx055_temp.h @@ -1,7 +1,7 @@ #pragma once -#include "selfdrive/sensord/sensors/bmx055_accel.h" -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/bmx055_accel.h" +#include "system/sensord/sensors/i2c_sensor.h" class BMX055_Temp : public I2CSensor { uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;} diff --git a/selfdrive/sensord/sensors/constants.h b/system/sensord/sensors/constants.h similarity index 100% rename from selfdrive/sensord/sensors/constants.h rename to system/sensord/sensors/constants.h diff --git a/selfdrive/sensord/sensors/file_sensor.cc b/system/sensord/sensors/file_sensor.cc similarity index 100% rename from selfdrive/sensord/sensors/file_sensor.cc rename to system/sensord/sensors/file_sensor.cc diff --git a/selfdrive/sensord/sensors/file_sensor.h b/system/sensord/sensors/file_sensor.h similarity index 88% rename from selfdrive/sensord/sensors/file_sensor.h rename to system/sensord/sensors/file_sensor.h index 39d695167d..07d7e8f946 100644 --- a/selfdrive/sensord/sensors/file_sensor.h +++ b/system/sensord/sensors/file_sensor.h @@ -4,7 +4,7 @@ #include #include "cereal/gen/cpp/log.capnp.h" -#include "selfdrive/sensord/sensors/sensor.h" +#include "system/sensord/sensors/sensor.h" class FileSensor : public Sensor { protected: diff --git a/selfdrive/sensord/sensors/i2c_sensor.cc b/system/sensord/sensors/i2c_sensor.cc similarity index 100% rename from selfdrive/sensord/sensors/i2c_sensor.cc rename to system/sensord/sensors/i2c_sensor.cc diff --git a/selfdrive/sensord/sensors/i2c_sensor.h b/system/sensord/sensors/i2c_sensor.h similarity index 93% rename from selfdrive/sensord/sensors/i2c_sensor.h rename to system/sensord/sensors/i2c_sensor.h index 08ca6f09cd..ccac526c12 100644 --- a/selfdrive/sensord/sensors/i2c_sensor.h +++ b/system/sensord/sensors/i2c_sensor.h @@ -8,8 +8,8 @@ #include "common/gpio.h" #include "common/swaglog.h" -#include "selfdrive/sensord/sensors/constants.h" -#include "selfdrive/sensord/sensors/sensor.h" +#include "system/sensord/sensors/constants.h" +#include "system/sensord/sensors/sensor.h" int16_t read_12_bit(uint8_t lsb, uint8_t msb); int16_t read_16_bit(uint8_t lsb, uint8_t msb); diff --git a/selfdrive/sensord/sensors/light_sensor.cc b/system/sensord/sensors/light_sensor.cc similarity index 92% rename from selfdrive/sensord/sensors/light_sensor.cc rename to system/sensord/sensors/light_sensor.cc index 58c602ea39..99e321b47d 100644 --- a/selfdrive/sensord/sensors/light_sensor.cc +++ b/system/sensord/sensors/light_sensor.cc @@ -3,7 +3,7 @@ #include #include "common/timing.h" -#include "selfdrive/sensord/sensors/constants.h" +#include "system/sensord/sensors/constants.h" LightSensor::LightSensor(std::string filename) : FileSensor(filename) {} diff --git a/selfdrive/sensord/sensors/light_sensor.h b/system/sensord/sensors/light_sensor.h similarity index 100% rename from selfdrive/sensord/sensors/light_sensor.h rename to system/sensord/sensors/light_sensor.h diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.cc b/system/sensord/sensors/lsm6ds3_accel.cc similarity index 100% rename from selfdrive/sensord/sensors/lsm6ds3_accel.cc rename to system/sensord/sensors/lsm6ds3_accel.cc diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.h b/system/sensord/sensors/lsm6ds3_accel.h similarity index 97% rename from selfdrive/sensord/sensors/lsm6ds3_accel.h rename to system/sensord/sensors/lsm6ds3_accel.h index c3f66f5803..69667cb759 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_accel.h +++ b/system/sensord/sensors/lsm6ds3_accel.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define LSM6DS3_ACCEL_I2C_ADDR 0x6A diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc b/system/sensord/sensors/lsm6ds3_gyro.cc similarity index 100% rename from selfdrive/sensord/sensors/lsm6ds3_gyro.cc rename to system/sensord/sensors/lsm6ds3_gyro.cc diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.h b/system/sensord/sensors/lsm6ds3_gyro.h similarity index 96% rename from selfdrive/sensord/sensors/lsm6ds3_gyro.h rename to system/sensord/sensors/lsm6ds3_gyro.h index 220e6b0cec..adaae62dd2 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_gyro.h +++ b/system/sensord/sensors/lsm6ds3_gyro.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define LSM6DS3_GYRO_I2C_ADDR 0x6A diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.cc b/system/sensord/sensors/lsm6ds3_temp.cc similarity index 100% rename from selfdrive/sensord/sensors/lsm6ds3_temp.cc rename to system/sensord/sensors/lsm6ds3_temp.cc diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.h b/system/sensord/sensors/lsm6ds3_temp.h similarity index 92% rename from selfdrive/sensord/sensors/lsm6ds3_temp.h rename to system/sensord/sensors/lsm6ds3_temp.h index 1d6bcc228a..1b5b621814 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_temp.h +++ b/system/sensord/sensors/lsm6ds3_temp.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define LSM6DS3_TEMP_I2C_ADDR 0x6A diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.cc b/system/sensord/sensors/mmc5603nj_magn.cc similarity index 100% rename from selfdrive/sensord/sensors/mmc5603nj_magn.cc rename to system/sensord/sensors/mmc5603nj_magn.cc diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.h b/system/sensord/sensors/mmc5603nj_magn.h similarity index 94% rename from selfdrive/sensord/sensors/mmc5603nj_magn.h rename to system/sensord/sensors/mmc5603nj_magn.h index a364c7c37a..fce3f3fecb 100644 --- a/selfdrive/sensord/sensors/mmc5603nj_magn.h +++ b/system/sensord/sensors/mmc5603nj_magn.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define MMC5603NJ_I2C_ADDR 0x30 diff --git a/selfdrive/sensord/sensors/sensor.h b/system/sensord/sensors/sensor.h similarity index 100% rename from selfdrive/sensord/sensors/sensor.h rename to system/sensord/sensors/sensor.h diff --git a/selfdrive/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc similarity index 90% rename from selfdrive/sensord/sensors_qcom2.cc rename to system/sensord/sensors_qcom2.cc index fc8dc8620b..349c67f498 100644 --- a/selfdrive/sensord/sensors_qcom2.cc +++ b/system/sensord/sensors_qcom2.cc @@ -12,17 +12,17 @@ #include "common/swaglog.h" #include "common/timing.h" #include "common/util.h" -#include "selfdrive/sensord/sensors/bmx055_accel.h" -#include "selfdrive/sensord/sensors/bmx055_gyro.h" -#include "selfdrive/sensord/sensors/bmx055_magn.h" -#include "selfdrive/sensord/sensors/bmx055_temp.h" -#include "selfdrive/sensord/sensors/constants.h" -#include "selfdrive/sensord/sensors/light_sensor.h" -#include "selfdrive/sensord/sensors/lsm6ds3_accel.h" -#include "selfdrive/sensord/sensors/lsm6ds3_gyro.h" -#include "selfdrive/sensord/sensors/lsm6ds3_temp.h" -#include "selfdrive/sensord/sensors/mmc5603nj_magn.h" -#include "selfdrive/sensord/sensors/sensor.h" +#include "system/sensord/sensors/bmx055_accel.h" +#include "system/sensord/sensors/bmx055_gyro.h" +#include "system/sensord/sensors/bmx055_magn.h" +#include "system/sensord/sensors/bmx055_temp.h" +#include "system/sensord/sensors/constants.h" +#include "system/sensord/sensors/light_sensor.h" +#include "system/sensord/sensors/lsm6ds3_accel.h" +#include "system/sensord/sensors/lsm6ds3_gyro.h" +#include "system/sensord/sensors/lsm6ds3_temp.h" +#include "system/sensord/sensors/mmc5603nj_magn.h" +#include "system/sensord/sensors/sensor.h" #define I2C_BUS_IMU 1 diff --git a/system/sensord/tests/__init__.py b/system/sensord/tests/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/sensord/tests/test_pigeond.py b/system/sensord/tests/test_pigeond.py similarity index 100% rename from selfdrive/sensord/tests/test_pigeond.py rename to system/sensord/tests/test_pigeond.py diff --git a/selfdrive/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py similarity index 95% rename from selfdrive/sensord/tests/test_sensord.py rename to system/sensord/tests/test_sensord.py index c6fe33129a..6e8dda79bb 100755 --- a/selfdrive/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -7,7 +7,8 @@ from collections import namedtuple, defaultdict import cereal.messaging as messaging from cereal import log -from system.hardware import TICI, HARDWARE +from common.gpio import get_irq_for_action +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 +111,9 @@ 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 = get_irq_for_action("sensord")[0] finally: # teardown won't run if this doesn't succeed managed_processes["sensord"].stop() @@ -121,8 +121,6 @@ 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 +248,9 @@ 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 +259,9 @@ 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/selfdrive/sensord/tests/ttff_test.py b/system/sensord/tests/ttff_test.py similarity index 100% rename from selfdrive/sensord/tests/ttff_test.py rename to system/sensord/tests/ttff_test.py diff --git a/system/ubloxd/.gitignore b/system/ubloxd/.gitignore new file mode 100644 index 0000000000..05263ff67c --- /dev/null +++ b/system/ubloxd/.gitignore @@ -0,0 +1,2 @@ +ubloxd +tests/test_glonass_runner diff --git a/system/ubloxd/SConscript b/system/ubloxd/SConscript new file mode 100644 index 0000000000..fff0986efd --- /dev/null +++ b/system/ubloxd/SConscript @@ -0,0 +1,20 @@ +Import('env', 'common', 'cereal', 'messaging') + +loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread'] + +if GetOption('kaitai'): + generated = Dir('generated').srcnode().abspath + cmd = f"kaitai-struct-compiler --target cpp_stl --outdir {generated} $SOURCES" + env.Command(['generated/ubx.cpp', 'generated/ubx.h'], 'ubx.ksy', cmd) + env.Command(['generated/gps.cpp', 'generated/gps.h'], 'gps.ksy', cmd) + glonass = env.Command(['generated/glonass.cpp', 'generated/glonass.h'], 'glonass.ksy', cmd) + + # kaitai issue: https://github.com/kaitai-io/kaitai_struct/issues/910 + patch = env.Command(None, 'glonass_fix.patch', 'git apply $SOURCES') + env.Depends(patch, glonass) + +glonass_obj = env.Object('generated/glonass.cpp') +env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp", glonass_obj], LIBS=loc_libs) + +if GetOption('test'): + env.Program("tests/test_glonass_runner", ['tests/test_glonass_runner.cc', 'tests/test_glonass_kaitai.cc', glonass_obj], LIBS=[loc_libs]) \ No newline at end of file diff --git a/selfdrive/locationd/generated/glonass.cpp b/system/ubloxd/generated/glonass.cpp similarity index 100% rename from selfdrive/locationd/generated/glonass.cpp rename to system/ubloxd/generated/glonass.cpp diff --git a/selfdrive/locationd/generated/glonass.h b/system/ubloxd/generated/glonass.h similarity index 100% rename from selfdrive/locationd/generated/glonass.h rename to system/ubloxd/generated/glonass.h diff --git a/selfdrive/locationd/generated/gps.cpp b/system/ubloxd/generated/gps.cpp similarity index 100% rename from selfdrive/locationd/generated/gps.cpp rename to system/ubloxd/generated/gps.cpp diff --git a/selfdrive/locationd/generated/gps.h b/system/ubloxd/generated/gps.h similarity index 100% rename from selfdrive/locationd/generated/gps.h rename to system/ubloxd/generated/gps.h diff --git a/selfdrive/locationd/generated/ubx.cpp b/system/ubloxd/generated/ubx.cpp similarity index 67% rename from selfdrive/locationd/generated/ubx.cpp rename to system/ubloxd/generated/ubx.cpp index 34fe1e52ca..81b82ccafc 100644 --- a/selfdrive/locationd/generated/ubx.cpp +++ b/system/ubloxd/generated/ubx.cpp @@ -40,6 +40,11 @@ void ubx_t::_read() { m_body = new rxm_sfrbx_t(m__io, this, m__root); break; } + case 309: { + n_body = false; + m_body = new nav_sat_t(m__io, this, m__root); + break; + } case 2571: { n_body = false; m_body = new mon_hw2_t(m__io, this, m__root); @@ -70,9 +75,9 @@ void ubx_t::_clean_up() { ubx_t::rxm_rawx_t::rxm_rawx_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { m__parent = p__parent; m__root = p__root; - m_measurements = 0; - m__raw_measurements = 0; - m__io__raw_measurements = 0; + m_meas = 0; + m__raw_meas = 0; + m__io__raw_meas = 0; try { _read(); @@ -89,15 +94,15 @@ void ubx_t::rxm_rawx_t::_read() { m_num_meas = m__io->read_u1(); m_rec_stat = m__io->read_u1(); m_reserved1 = m__io->read_bytes(3); - m__raw_measurements = new std::vector(); - m__io__raw_measurements = new std::vector(); - m_measurements = new std::vector(); - const int l_measurements = num_meas(); - for (int i = 0; i < l_measurements; i++) { - m__raw_measurements->push_back(m__io->read_bytes(32)); - kaitai::kstream* io__raw_measurements = new kaitai::kstream(m__raw_measurements->at(m__raw_measurements->size() - 1)); - m__io__raw_measurements->push_back(io__raw_measurements); - m_measurements->push_back(new meas_t(io__raw_measurements, this, m__root)); + m__raw_meas = new std::vector(); + m__io__raw_meas = new std::vector(); + m_meas = new std::vector(); + const int l_meas = num_meas(); + for (int i = 0; i < l_meas; i++) { + m__raw_meas->push_back(m__io->read_bytes(32)); + kaitai::kstream* io__raw_meas = new kaitai::kstream(m__raw_meas->at(m__raw_meas->size() - 1)); + m__io__raw_meas->push_back(io__raw_meas); + m_meas->push_back(new measurement_t(io__raw_meas, this, m__root)); } } @@ -106,24 +111,24 @@ ubx_t::rxm_rawx_t::~rxm_rawx_t() { } void ubx_t::rxm_rawx_t::_clean_up() { - if (m__raw_measurements) { - delete m__raw_measurements; m__raw_measurements = 0; + if (m__raw_meas) { + delete m__raw_meas; m__raw_meas = 0; } - if (m__io__raw_measurements) { - for (std::vector::iterator it = m__io__raw_measurements->begin(); it != m__io__raw_measurements->end(); ++it) { + if (m__io__raw_meas) { + for (std::vector::iterator it = m__io__raw_meas->begin(); it != m__io__raw_meas->end(); ++it) { delete *it; } - delete m__io__raw_measurements; m__io__raw_measurements = 0; + delete m__io__raw_meas; m__io__raw_meas = 0; } - if (m_measurements) { - for (std::vector::iterator it = m_measurements->begin(); it != m_measurements->end(); ++it) { + if (m_meas) { + for (std::vector::iterator it = m_meas->begin(); it != m_meas->end(); ++it) { delete *it; } - delete m_measurements; m_measurements = 0; + delete m_meas; m_meas = 0; } } -ubx_t::rxm_rawx_t::meas_t::meas_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { +ubx_t::rxm_rawx_t::measurement_t::measurement_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { m__parent = p__parent; m__root = p__root; @@ -135,7 +140,7 @@ ubx_t::rxm_rawx_t::meas_t::meas_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__ } } -void ubx_t::rxm_rawx_t::meas_t::_read() { +void ubx_t::rxm_rawx_t::measurement_t::_read() { m_pr_mes = m__io->read_f8le(); m_cp_mes = m__io->read_f8le(); m_do_mes = m__io->read_f4le(); @@ -152,11 +157,11 @@ void ubx_t::rxm_rawx_t::meas_t::_read() { m_reserved3 = m__io->read_bytes(1); } -ubx_t::rxm_rawx_t::meas_t::~meas_t() { +ubx_t::rxm_rawx_t::measurement_t::~measurement_t() { _clean_up(); } -void ubx_t::rxm_rawx_t::meas_t::_clean_up() { +void ubx_t::rxm_rawx_t::measurement_t::_clean_up() { } ubx_t::rxm_sfrbx_t::rxm_sfrbx_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { @@ -198,6 +203,89 @@ void ubx_t::rxm_sfrbx_t::_clean_up() { } } +ubx_t::nav_sat_t::nav_sat_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + m_svs = 0; + m__raw_svs = 0; + m__io__raw_svs = 0; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void ubx_t::nav_sat_t::_read() { + m_itow = m__io->read_u4le(); + m_version = m__io->read_u1(); + m_num_svs = m__io->read_u1(); + m_reserved = m__io->read_bytes(2); + m__raw_svs = new std::vector(); + m__io__raw_svs = new std::vector(); + m_svs = new std::vector(); + const int l_svs = num_svs(); + for (int i = 0; i < l_svs; i++) { + m__raw_svs->push_back(m__io->read_bytes(12)); + kaitai::kstream* io__raw_svs = new kaitai::kstream(m__raw_svs->at(m__raw_svs->size() - 1)); + m__io__raw_svs->push_back(io__raw_svs); + m_svs->push_back(new nav_t(io__raw_svs, this, m__root)); + } +} + +ubx_t::nav_sat_t::~nav_sat_t() { + _clean_up(); +} + +void ubx_t::nav_sat_t::_clean_up() { + if (m__raw_svs) { + delete m__raw_svs; m__raw_svs = 0; + } + if (m__io__raw_svs) { + for (std::vector::iterator it = m__io__raw_svs->begin(); it != m__io__raw_svs->end(); ++it) { + delete *it; + } + delete m__io__raw_svs; m__io__raw_svs = 0; + } + if (m_svs) { + for (std::vector::iterator it = m_svs->begin(); it != m_svs->end(); ++it) { + delete *it; + } + delete m_svs; m_svs = 0; + } +} + +ubx_t::nav_sat_t::nav_t::nav_t(kaitai::kstream* p__io, ubx_t::nav_sat_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void ubx_t::nav_sat_t::nav_t::_read() { + m_gnss_id = static_cast(m__io->read_u1()); + m_sv_id = m__io->read_u1(); + m_cno = m__io->read_u1(); + m_elev = m__io->read_s1(); + m_azim = m__io->read_s2le(); + m_pr_res = m__io->read_s2le(); + m_flags = m__io->read_u4le(); +} + +ubx_t::nav_sat_t::nav_t::~nav_t() { + _clean_up(); +} + +void ubx_t::nav_sat_t::nav_t::_clean_up() { +} + ubx_t::nav_pvt_t::nav_pvt_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { m__parent = p__parent; m__root = p__root; diff --git a/selfdrive/locationd/generated/ubx.h b/system/ubloxd/generated/ubx.h similarity index 80% rename from selfdrive/locationd/generated/ubx.h rename to system/ubloxd/generated/ubx.h index 6be4ce8c4b..022108489f 100644 --- a/selfdrive/locationd/generated/ubx.h +++ b/system/ubloxd/generated/ubx.h @@ -16,6 +16,7 @@ class ubx_t : public kaitai::kstruct { public: class rxm_rawx_t; class rxm_sfrbx_t; + class nav_sat_t; class nav_pvt_t; class mon_hw2_t; class mon_hw_t; @@ -42,7 +43,7 @@ public: class rxm_rawx_t : public kaitai::kstruct { public: - class meas_t; + class measurement_t; rxm_rawx_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); @@ -53,18 +54,18 @@ public: public: ~rxm_rawx_t(); - class meas_t : public kaitai::kstruct { + class measurement_t : public kaitai::kstruct { public: - meas_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent = 0, ubx_t* p__root = 0); + measurement_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent = 0, ubx_t* p__root = 0); private: void _read(); void _clean_up(); public: - ~meas_t(); + ~measurement_t(); private: double m_pr_mes; @@ -110,11 +111,11 @@ public: uint8_t m_num_meas; uint8_t m_rec_stat; std::string m_reserved1; - std::vector* m_measurements; + std::vector* m_meas; ubx_t* m__root; ubx_t* m__parent; - std::vector* m__raw_measurements; - std::vector* m__io__raw_measurements; + std::vector* m__raw_meas; + std::vector* m__io__raw_meas; public: double rcv_tow() const { return m_rcv_tow; } @@ -123,11 +124,11 @@ public: uint8_t num_meas() const { return m_num_meas; } uint8_t rec_stat() const { return m_rec_stat; } std::string reserved1() const { return m_reserved1; } - std::vector* measurements() const { return m_measurements; } + std::vector* meas() const { return m_meas; } ubx_t* _root() const { return m__root; } ubx_t* _parent() const { return m__parent; } - std::vector* _raw_measurements() const { return m__raw_measurements; } - std::vector* _io__raw_measurements() const { return m__io__raw_measurements; } + std::vector* _raw_meas() const { return m__raw_meas; } + std::vector* _io__raw_meas() const { return m__io__raw_meas; } }; class rxm_sfrbx_t : public kaitai::kstruct { @@ -170,6 +171,79 @@ public: ubx_t* _parent() const { return m__parent; } }; + class nav_sat_t : public kaitai::kstruct { + + public: + class nav_t; + + nav_sat_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~nav_sat_t(); + + class nav_t : public kaitai::kstruct { + + public: + + nav_t(kaitai::kstream* p__io, ubx_t::nav_sat_t* p__parent = 0, ubx_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~nav_t(); + + private: + gnss_type_t m_gnss_id; + uint8_t m_sv_id; + uint8_t m_cno; + int8_t m_elev; + int16_t m_azim; + int16_t m_pr_res; + uint32_t m_flags; + ubx_t* m__root; + ubx_t::nav_sat_t* m__parent; + + public: + gnss_type_t gnss_id() const { return m_gnss_id; } + uint8_t sv_id() const { return m_sv_id; } + uint8_t cno() const { return m_cno; } + int8_t elev() const { return m_elev; } + int16_t azim() const { return m_azim; } + int16_t pr_res() const { return m_pr_res; } + uint32_t flags() const { return m_flags; } + ubx_t* _root() const { return m__root; } + ubx_t::nav_sat_t* _parent() const { return m__parent; } + }; + + private: + uint32_t m_itow; + uint8_t m_version; + uint8_t m_num_svs; + std::string m_reserved; + std::vector* m_svs; + ubx_t* m__root; + ubx_t* m__parent; + std::vector* m__raw_svs; + std::vector* m__io__raw_svs; + + public: + uint32_t itow() const { return m_itow; } + uint8_t version() const { return m_version; } + uint8_t num_svs() const { return m_num_svs; } + std::string reserved() const { return m_reserved; } + std::vector* svs() const { return m_svs; } + ubx_t* _root() const { return m__root; } + ubx_t* _parent() const { return m__parent; } + std::vector* _raw_svs() const { return m__raw_svs; } + std::vector* _io__raw_svs() const { return m__io__raw_svs; } + }; + class nav_pvt_t : public kaitai::kstruct { public: diff --git a/selfdrive/locationd/glonass.ksy b/system/ubloxd/glonass.ksy similarity index 100% rename from selfdrive/locationd/glonass.ksy rename to system/ubloxd/glonass.ksy diff --git a/selfdrive/locationd/glonass_fix.patch b/system/ubloxd/glonass_fix.patch similarity index 68% rename from selfdrive/locationd/glonass_fix.patch rename to system/ubloxd/glonass_fix.patch index fa34a8ef15..7eb973a348 100644 --- a/selfdrive/locationd/glonass_fix.patch +++ b/system/ubloxd/glonass_fix.patch @@ -1,7 +1,7 @@ -diff --git a/selfdrive/locationd/generated/glonass.cpp b/selfdrive/locationd/generated/glonass.cpp +diff --git a/system/ubloxd/generated/glonass.cpp b/system/ubloxd/generated/glonass.cpp index 5b17bc327..b5c6aa610 100644 ---- a/selfdrive/locationd/generated/glonass.cpp -+++ b/selfdrive/locationd/generated/glonass.cpp +--- a/system/ubloxd/generated/glonass.cpp ++++ b/system/ubloxd/generated/glonass.cpp @@ -17,7 +17,7 @@ glonass_t::glonass_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, glonass void glonass_t::_read() { m_idle_chip = m__io->read_bits_int_be(1); diff --git a/selfdrive/locationd/gps.ksy b/system/ubloxd/gps.ksy similarity index 100% rename from selfdrive/locationd/gps.ksy rename to system/ubloxd/gps.ksy diff --git a/selfdrive/locationd/test/print_gps_stats.py b/system/ubloxd/tests/print_gps_stats.py similarity index 100% rename from selfdrive/locationd/test/print_gps_stats.py rename to system/ubloxd/tests/print_gps_stats.py diff --git a/selfdrive/locationd/test/test_glonass_kaitai.cc b/system/ubloxd/tests/test_glonass_kaitai.cc similarity index 99% rename from selfdrive/locationd/test/test_glonass_kaitai.cc rename to system/ubloxd/tests/test_glonass_kaitai.cc index 22f5202a3d..5ad274142a 100644 --- a/selfdrive/locationd/test/test_glonass_kaitai.cc +++ b/system/ubloxd/tests/test_glonass_kaitai.cc @@ -6,7 +6,7 @@ #include #include "catch2/catch.hpp" -#include "selfdrive/locationd/generated/glonass.h" +#include "system/ubloxd/generated/glonass.h" typedef std::vector> string_data; diff --git a/selfdrive/locationd/test/test_glonass_runner.cc b/system/ubloxd/tests/test_glonass_runner.cc similarity index 100% rename from selfdrive/locationd/test/test_glonass_runner.cc rename to system/ubloxd/tests/test_glonass_runner.cc diff --git a/selfdrive/locationd/test/test_ublox_processing.py b/system/ubloxd/tests/test_ublox_processing.py similarity index 100% rename from selfdrive/locationd/test/test_ublox_processing.py rename to system/ubloxd/tests/test_ublox_processing.py diff --git a/selfdrive/locationd/test/ublox.py b/system/ubloxd/tests/ublox.py similarity index 99% rename from selfdrive/locationd/test/ublox.py rename to system/ubloxd/tests/ublox.py index 9cffbeac40..0d271ad785 100644 --- a/selfdrive/locationd/test/ublox.py +++ b/system/ubloxd/tests/ublox.py @@ -48,12 +48,14 @@ MSG_NAV_TIMEGPS = 0x20 MSG_NAV_TIMEUTC = 0x21 MSG_NAV_CLOCK = 0x22 MSG_NAV_SVINFO = 0x30 +MSG_NAV_SAT = 0x35 MSG_NAV_AOPSTATUS = 0x60 MSG_NAV_DGPS = 0x31 MSG_NAV_DOP = 0x04 MSG_NAV_EKFSTATUS = 0x40 MSG_NAV_SBAS = 0x32 MSG_NAV_SOL = 0x06 +MSG_NAV_SAT = 0x35 # RXM messages MSG_RXM_RAW = 0x15 diff --git a/selfdrive/locationd/test/ubloxd.py b/system/ubloxd/tests/ubloxd.py similarity index 98% rename from selfdrive/locationd/test/ubloxd.py rename to system/ubloxd/tests/ubloxd.py index 82aa502ceb..7c7e68b23b 100755 --- a/selfdrive/locationd/test/ubloxd.py +++ b/system/ubloxd/tests/ubloxd.py @@ -60,6 +60,7 @@ def configure_ublox(dev): dev.configure_message_rate(ublox.CLASS_RXM, ublox.MSG_RXM_SFRBX, 1) dev.configure_message_rate(ublox.CLASS_MON, ublox.MSG_MON_HW, 1) dev.configure_message_rate(ublox.CLASS_MON, ublox.MSG_MON_HW2, 1) + dev.configure_message_rate(ublox.CLASS_NAV, ublox.MSG_NAV_SAT, 1) # Query the backup restore status print("backup restore polling message (implement custom response handler!):") diff --git a/selfdrive/locationd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc similarity index 79% rename from selfdrive/locationd/ublox_msg.cc rename to system/ubloxd/ublox_msg.cc index b746989466..92a2ba678c 100644 --- a/selfdrive/locationd/ublox_msg.cc +++ b/system/ubloxd/ublox_msg.cc @@ -65,23 +65,8 @@ inline bool UbloxMsgParser::valid_so_far() { return true; } -inline uint16_t UbloxMsgParser::get_glonass_year(uint8_t N4, uint16_t Nt) { - // convert time to year (conversion from A3.1.3) - int J = 0; - if (1 <= Nt && Nt <= 366) { - J = 1; - } else if (367 <= Nt && Nt <= 731) { - J = 2; - } else if (732 <= Nt && Nt <= 1096) { - J = 3; - } else if (1097 <= Nt && Nt <= 1461) { - J = 4; - } - uint16_t year = 1996 + 4*(N4 -1) + (J - 1); - return year; -} - -bool UbloxMsgParser::add_data(const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed) { +bool UbloxMsgParser::add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed) { + last_log_time = log_time; int needed = needed_bytes(); if(needed > 0) { bytes_consumed = std::min((uint32_t)needed, incoming_data_len ); @@ -126,6 +111,8 @@ std::pair> UbloxMsgParser::gen_msg() { return {"ubloxGnss", gen_mon_hw(static_cast(body))}; case 0x0a0b: return {"ubloxGnss", gen_mon_hw2(static_cast(body))}; + case 0x0135: + return {"ubloxGnss", gen_nav_sat(static_cast(body))}; default: LOGE("Unknown message type %x", ubx_message.msg_type()); return {"ubloxGnss", kj::Array()}; @@ -183,7 +170,7 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m gps_t subframe(&stream); int subframe_id = subframe.how()->subframe_id(); - if (subframe_id > 3) { + if (subframe_id > 3 || subframe_id < 1) { // dont parse almanac subframes return kj::Array(); } @@ -199,6 +186,7 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m int iode_s2 = 0; int iode_s3 = 0; int iodc_lsb = 0; + int week; // Subframe 1 { @@ -206,7 +194,14 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m gps_t subframe(&stream); gps_t::subframe_1_t* subframe_1 = static_cast(subframe.body()); - eph.setGpsWeek(subframe_1->week_no()); + // Each message is incremented to be greater or equal than week 1877 (2015-12-27). + // To skip this use the current_time argument + week = subframe_1->week_no(); + week += 1024; + if (week < 1877) { + week += 1024; + } + //eph.setGpsWeek(subframe_1->week_no()); eph.setTgd(subframe_1->t_gd() * pow(2, -31)); eph.setToc(subframe_1->t_oc() * pow(2, 4)); eph.setAf2(subframe_1->af_2() * pow(2, -55)); @@ -223,6 +218,12 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m gps_t subframe(&stream); gps_t::subframe_2_t* subframe_2 = static_cast(subframe.body()); + // GPS week refers to current week, the ephemeris can be valid for the next + // if toe equals 0, this can be verified by the TOW count if it is within the + // last 2 hours of the week (gps ephemeris valid for 4hours) + if (subframe_2->t_oe() == 0 and subframe.how()->tow_count()*6 >= (SECS_IN_WEEK - 2*SECS_IN_HR)){ + week += 1; + } eph.setCrs(subframe_2->c_rs() * pow(2, -5)); eph.setDeltaN(subframe_2->delta_n() * pow(2, -43) * gpsPi); eph.setM0(subframe_2->m_0() * pow(2, -31) * gpsPi); @@ -252,6 +253,9 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m iode_s3 = subframe_3->iode(); } + eph.setToeWeek(week); + eph.setTocWeek(week); + gps_subframes[msg->sv_id()].clear(); if (iodc_lsb != iode_s2 || iodc_lsb != iode_s3) { // data set cutover, reject ephemeris @@ -263,12 +267,8 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m } kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_t *msg) { - if (msg->sv_id() == 255) { - // data can be decoded before identifying the SV number, in this case 255 - // is returned, which means "unknown" (ublox p32) - return kj::Array(); - } - + // This parser assumes that no 2 satellites of the same frequency + // can be in view at the same time auto body = *msg->body(); assert(body.size() == 4); { @@ -281,39 +281,68 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ kaitai::kstream stream(string_data); glonass_t gl_string(&stream); - int string_number = gl_string.string_number(); - if (string_number > 5 || gl_string.idle_chip()) { + if (string_number < 1 || string_number > 5 || gl_string.idle_chip()) { // dont parse non immediate data, idle_chip == 0 return kj::Array(); } - // immediate data is the same within one superframe - if (glonass_superframes[msg->sv_id()] != gl_string.superframe_number()) { - glonass_strings[msg->sv_id()].clear(); - glonass_superframes[msg->sv_id()] = gl_string.superframe_number(); + // Check if new string either has same superframe_id or log transmission times make sense + bool superframe_unknown = false; + bool needs_clear = false; + for (int i = 1; i <= 5; i++) { + if (glonass_strings[msg->freq_id()].find(i) == glonass_strings[msg->freq_id()].end()) + continue; + if (glonass_string_superframes[msg->freq_id()][i] == 0 || gl_string.superframe_number() == 0) { + superframe_unknown = true; + } + else if (glonass_string_superframes[msg->freq_id()][i] != gl_string.superframe_number()) { + needs_clear = true; + } + // Check if string times add up to being from the same frame + // If superframe is known this is redundant + // Strings are sent 2s apart and frames are 30s apart + if (superframe_unknown && + std::abs((glonass_string_times[msg->freq_id()][i] - 2.0 * i) - (last_log_time - 2.0 * string_number)) > 10) + needs_clear = true; + } + if (needs_clear) { + glonass_strings[msg->freq_id()].clear(); + glonass_string_superframes[msg->freq_id()].clear(); + glonass_string_times[msg->freq_id()].clear(); } - glonass_strings[msg->sv_id()][string_number] = string_data; + glonass_strings[msg->freq_id()][string_number] = string_data; + glonass_string_superframes[msg->freq_id()][string_number] = gl_string.superframe_number(); + glonass_string_times[msg->freq_id()][string_number] = last_log_time; + } + if (msg->sv_id() == 255) { + // data can be decoded before identifying the SV number, in this case 255 + // is returned, which means "unknown" (ublox p32) + return kj::Array(); } // publish if strings 1-5 have been collected - if (glonass_strings[msg->sv_id()].size() != 5) { + if (glonass_strings[msg->freq_id()].size() != 5) { return kj::Array(); } MessageBuilder msg_builder; auto eph = msg_builder.initEvent().initUbloxGnss().initGlonassEphemeris(); eph.setSvId(msg->sv_id()); + eph.setFreqNum(msg->freq_id() - 7); + uint16_t current_day = 0; + uint16_t tk = 0; // string number 1 { - kaitai::kstream stream(glonass_strings[msg->sv_id()][1]); + kaitai::kstream stream(glonass_strings[msg->freq_id()][1]); glonass_t gl_stream(&stream); glonass_t::string_1_t* data = static_cast(gl_stream.data()); eph.setP1(data->p1()); - eph.setTk(data->t_k()); + tk = data->t_k(); + eph.setTkDEPRECATED(tk); eph.setXVel(data->x_vel() * pow(2, -20)); eph.setXAccel(data->x_accel() * pow(2, -30)); eph.setX(data->x() * pow(2, -11)); @@ -321,7 +350,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ // string number 2 { - kaitai::kstream stream(glonass_strings[msg->sv_id()][2]); + kaitai::kstream stream(glonass_strings[msg->freq_id()][2]); glonass_t gl_stream(&stream); glonass_t::string_2_t* data = static_cast(gl_stream.data()); @@ -335,7 +364,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ // string number 3 { - kaitai::kstream stream(glonass_strings[msg->sv_id()][3]); + kaitai::kstream stream(glonass_strings[msg->freq_id()][3]); glonass_t gl_stream(&stream); glonass_t::string_3_t* data = static_cast(gl_stream.data()); @@ -349,11 +378,12 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ // string number 4 { - kaitai::kstream stream(glonass_strings[msg->sv_id()][4]); + kaitai::kstream stream(glonass_strings[msg->freq_id()][4]); glonass_t gl_stream(&stream); glonass_t::string_4_t* data = static_cast(gl_stream.data()); current_day = data->n_t(); + eph.setNt(current_day); eph.setTauN(data->tau_n() * pow(2, -30)); eph.setDeltaTauN(data->delta_tau_n() * pow(2, -30)); eph.setAge(data->e_n()); @@ -367,36 +397,18 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ // string number 5 { - kaitai::kstream stream(glonass_strings[msg->sv_id()][5]); + kaitai::kstream stream(glonass_strings[msg->freq_id()][5]); glonass_t gl_stream(&stream); glonass_t::string_5_t* data = static_cast(gl_stream.data()); // string5 parsing is only needed to get the year, this can be removed and // the year can be fetched later in laika (note rollovers and leap year) - uint8_t n_4 = data->n_4(); - uint16_t year = get_glonass_year(n_4, current_day); - if (current_day > 1461) { - // impossible day within last 4 year, reject ephemeris - // TODO: check if this can be detected via hamming code - LOGE("INVALID DATA: current day out of range: %d, %d", current_day, n_4); - glonass_strings[msg->sv_id()].clear(); - return kj::Array(); - } - - uint16_t last_leap_year = 1996 + 4*(n_4-1); - uint16_t days_till_this_year = (year - last_leap_year)*365; - if (days_till_this_year != 0) { - days_till_this_year++; - } - - eph.setYear(year); - eph.setDayInYear(current_day - days_till_this_year); - eph.setHour((eph.getTk()>>7) & 0x1F); - eph.setMinute((eph.getTk()>>1) & 0x3F); - eph.setSecond((eph.getTk() & 0x1) * 30); + eph.setN4(data->n_4()); + int tk_seconds = SECS_IN_HR * ((tk>>7) & 0x1F) + SECS_IN_MIN * ((tk>>1) & 0x3F) + (tk & 0x1) * 30; + eph.setTkSeconds(tk_seconds); } - glonass_strings[msg->sv_id()].clear(); + glonass_strings[msg->freq_id()].clear(); return capnp::messageToFlatArray(msg_builder); } @@ -421,7 +433,7 @@ kj::Array UbloxMsgParser::gen_rxm_rawx(ubx_t::rxm_rawx_t *msg) { mr.setGpsWeek(msg->week()); auto mb = mr.initMeasurements(msg->num_meas()); - auto measurements = *msg->measurements(); + auto measurements = *msg->meas(); for(int8_t i = 0; i < msg->num_meas(); i++) { mb[i].setSvId(measurements[i]->sv_id()); mb[i].setPseudorange(measurements[i]->pr_mes()); @@ -450,6 +462,22 @@ kj::Array UbloxMsgParser::gen_rxm_rawx(ubx_t::rxm_rawx_t *msg) { return capnp::messageToFlatArray(msg_builder); } +kj::Array UbloxMsgParser::gen_nav_sat(ubx_t::nav_sat_t *msg) { + MessageBuilder msg_builder; + auto sr = msg_builder.initEvent().initUbloxGnss().initSatReport(); + sr.setITow(msg->itow()); + + auto svs = sr.initSvs(msg->num_svs()); + auto svs_data = *msg->svs(); + for(int8_t i = 0; i < msg->num_svs(); i++) { + svs[i].setSvId(svs_data[i]->sv_id()); + svs[i].setGnssId(svs_data[i]->gnss_id()); + svs[i].setFlagsBitfield(svs_data[i]->flags()); + } + + return capnp::messageToFlatArray(msg_builder); +} + kj::Array UbloxMsgParser::gen_mon_hw(ubx_t::mon_hw_t *msg) { MessageBuilder msg_builder; auto hwStatus = msg_builder.initEvent().initUbloxGnss().initHwStatus(); diff --git a/selfdrive/locationd/ublox_msg.h b/system/ubloxd/ublox_msg.h similarity index 83% rename from selfdrive/locationd/ublox_msg.h rename to system/ubloxd/ublox_msg.h index 6988f20b74..a52a7db3e5 100644 --- a/selfdrive/locationd/ublox_msg.h +++ b/system/ubloxd/ublox_msg.h @@ -9,12 +9,17 @@ #include "cereal/messaging/messaging.h" #include "common/util.h" -#include "selfdrive/locationd/generated/gps.h" -#include "selfdrive/locationd/generated/glonass.h" -#include "selfdrive/locationd/generated/ubx.h" +#include "system/ubloxd/generated/gps.h" +#include "system/ubloxd/generated/glonass.h" +#include "system/ubloxd/generated/ubx.h" using namespace std::string_literals; +const int SECS_IN_MIN = 60; +const int SECS_IN_HR = 60 * SECS_IN_MIN; +const int SECS_IN_DAY = 24 * SECS_IN_HR; +const int SECS_IN_WEEK = 7 * SECS_IN_DAY; + // protocol constants namespace ublox { const uint8_t PREAMBLE1 = 0xb5; @@ -86,7 +91,7 @@ namespace ublox { class UbloxMsgParser { public: - bool add_data(const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed); + bool add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed); inline void reset() {bytes_in_parse_buf = 0;} inline int needed_bytes(); inline std::string data() {return std::string((const char*)msg_parse_buf, bytes_in_parse_buf);} @@ -97,18 +102,19 @@ class UbloxMsgParser { kj::Array gen_rxm_rawx(ubx_t::rxm_rawx_t *msg); kj::Array gen_mon_hw(ubx_t::mon_hw_t *msg); kj::Array gen_mon_hw2(ubx_t::mon_hw2_t *msg); + kj::Array gen_nav_sat(ubx_t::nav_sat_t *msg); private: inline bool valid_cheksum(); inline bool valid(); inline bool valid_so_far(); - inline uint16_t get_glonass_year(uint8_t N4, uint16_t Nt); kj::Array parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *msg); kj::Array parse_glonass_ephemeris(ubx_t::rxm_sfrbx_t *msg); std::unordered_map> gps_subframes; + float last_log_time = 0.0; size_t bytes_in_parse_buf = 0; uint8_t msg_parse_buf[ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_MAX_MSG_SIZE]; @@ -119,5 +125,6 @@ class UbloxMsgParser { {11, 64}, {12, 128}, {13, 256}, {14, 512}, {15, 1024}}; std::unordered_map> glonass_strings; - std::unordered_map glonass_superframes; + std::unordered_map> glonass_string_times; + std::unordered_map> glonass_string_superframes; }; diff --git a/selfdrive/locationd/ubloxd.cc b/system/ubloxd/ubloxd.cc similarity index 88% rename from selfdrive/locationd/ubloxd.cc rename to system/ubloxd/ubloxd.cc index d9b3e7647d..1dae6dc866 100644 --- a/selfdrive/locationd/ubloxd.cc +++ b/system/ubloxd/ubloxd.cc @@ -5,7 +5,7 @@ #include "cereal/messaging/messaging.h" #include "common/swaglog.h" #include "common/util.h" -#include "selfdrive/locationd/ublox_msg.h" +#include "system/ubloxd/ublox_msg.h" ExitHandler do_exit; using namespace ublox; @@ -35,6 +35,7 @@ int main() { capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get())); cereal::Event::Reader event = cmsg.getRoot(); auto ubloxRaw = event.getUbloxRaw(); + float log_time = 1e-9 * event.getLogMonoTime(); const uint8_t *data = ubloxRaw.begin(); size_t len = ubloxRaw.size(); @@ -42,7 +43,7 @@ int main() { while(bytes_consumed < len && !do_exit) { size_t bytes_consumed_this_time = 0U; - if(parser.add_data(data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) { + if(parser.add_data(log_time, data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) { try { auto ublox_msg = parser.gen_msg(); diff --git a/selfdrive/locationd/ubx.ksy b/system/ubloxd/ubx.ksy similarity index 86% rename from selfdrive/locationd/ubx.ksy rename to system/ubloxd/ubx.ksy index 6945680d32..02c757fe71 100644 --- a/selfdrive/locationd/ubx.ksy +++ b/system/ubloxd/ubx.ksy @@ -17,6 +17,7 @@ seq: 0x0215: rxm_rawx 0x0a09: mon_hw 0x0a0b: mon_hw2 + 0x0135: nav_sat instances: checksum: pos: length + 6 @@ -142,13 +143,13 @@ types: type: u1 - id: reserved1 size: 3 - - id: measurements - type: meas + - id: meas + type: measurement size: 32 repeat: expr repeat-expr: num_meas types: - meas: + measurement: seq: - id: pr_mes type: f8 @@ -179,6 +180,39 @@ types: type: u1 - id: reserved3 size: 1 + nav_sat: + seq: + - id: itow + type: u4 + - id: version + type: u1 + - id: num_svs + type: u1 + - id: reserved + size: 2 + - id: svs + type: nav + size: 12 + repeat: expr + repeat-expr: num_svs + types: + nav: + seq: + - id: gnss_id + type: u1 + enum: gnss_type + - id: sv_id + type: u1 + - id: cno + type: u1 + - id: elev + type: s1 + - id: azim + type: s2 + - id: pr_res + type: s2 + - id: flags + type: u4 nav_pvt: seq: diff --git a/tinygrad_repo b/tinygrad_repo index 2e1d47b166..d8dda2af3a 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 2e1d47b16625ff343516287cdd9e4bcb26f5c4ef +Subproject commit d8dda2af3afcef0bb772fff580cfa8b3eabf7f69 diff --git a/tools/README.md b/tools/README.md index 3969deb24d..c3f5b0ada5 100644 --- a/tools/README.md +++ b/tools/README.md @@ -53,6 +53,7 @@ Learn about the openpilot ecosystem and tools by playing our [CTF](/tools/CTF.md ``` ├── ubuntu_setup.sh # Setup script for Ubuntu ├── mac_setup.sh # Setup script for macOS +├── cabana/ # View and plot CAN messages from drives or in realtime ├── joystick/ # Control your car with a joystick ├── lib/ # Libraries to support the tools and reading openpilot logs ├── plotjuggler/ # A tool to plot openpilot logs diff --git a/tools/cabana/.gitignore b/tools/cabana/.gitignore index 73879ab05d..c3f5ef2b69 100644 --- a/tools/cabana/.gitignore +++ b/tools/cabana/.gitignore @@ -1,7 +1,7 @@ moc_* *.moc -_cabana +cabana settings -car_fingerprint_to_dbc.json -tests/_test_cabana +dbc/car_fingerprint_to_dbc.json +tests/test_cabana diff --git a/tools/cabana/README.md b/tools/cabana/README.md index db247c39c5..cfda056636 100644 --- a/tools/cabana/README.md +++ b/tools/cabana/README.md @@ -1,29 +1,31 @@ # Cabana - - Cabana is a tool developed to view raw CAN data. One use for this is creating and editing [CAN Dictionaries](http://socialledge.com/sjsu/index.php/DBC_Format) (DBC files), and the tool provides direct integration with [commaai/opendbc](https://github.com/commaai/opendbc) (a collection of DBC files), allowing you to load the DBC files direct from source, and save to your fork. In addition, you can load routes from [comma connect](https://connect.comma.ai). ## Usage Instructions ```bash $ ./cabana -h -Usage: ./_cabana [options] route +Usage: ./cabana [options] route Options: - -h, --help Displays this help. - --demo use a demo route instead of providing your own - --qcam load qcamera - --ecam load wide road camera - --stream read can messages from live streaming - --zmq the ip address on which to receive zmq messages - --data_dir local directory with routes - --no-vipc do not output video - --dbc dbc file to open + -h, --help Displays help on commandline options. + --help-all Displays help including Qt specific options. + --demo use a demo route instead of providing your own + --qcam load qcamera + --ecam load wide road camera + --stream read can messages from live streaming + --panda read can messages from panda + --panda-serial read can messages from panda with given serial + --zmq the ip address on which to receive zmq + messages + --data_dir local directory with routes + --no-vipc do not output video + --dbc dbc file to open Arguments: - route the drive to replay. find your drives at - connect.comma.ai + route the drive to replay. find your drives at + connect.comma.ai ``` See [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana) diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index a9922ba9be..f12888b792 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -1,6 +1,6 @@ import os Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib', - 'cereal', 'transformations', 'widgets', 'opendbc', 'asset_obj') + 'cereal', 'transformations', 'widgets') base_frameworks = qt_env['FRAMEWORKS'] base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', @@ -15,21 +15,29 @@ else: qt_libs = ['qt_util'] + base_libs -cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, opendbc,'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs cabana_env = qt_env.Clone() +cabana_env["LIBPATH"] += ['../../opendbc/can'] +cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'libdbc_static', 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'usb-1.0'] + qt_libs +opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc").abspath) +cabana_env['CXXFLAGS'] += [opendbc_path] + +# build assets +assets = "assets/assets.cc" +assets_src = "assets/assets.qrc" +cabana_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET") +cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "assets/assets.o"])) 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', '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, asset_obj], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) - -if arch == "Darwin": - cabana_env.Execute('install_name_tool -change opendbc/can/libdbc.dylib @loader_path/../../opendbc/can/libdbc.dylib ./_cabana') +cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', + 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc', + 'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc', + 'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) +cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) if GetOption('test'): - cabana_env.Program('tests/_test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs]) + cabana_env.Program('tests/test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs]) def generate_dbc_json(target, source, env): - env.Execute('tools/cabana/generate_dbc_json.py --out tools/cabana/car_fingerprint_to_dbc.json') + env.Execute('tools/cabana/dbc/generate_dbc_json.py --out tools/cabana/dbc/car_fingerprint_to_dbc.json') cabana_env.Command('generate_dbc_json', [], generate_dbc_json) diff --git a/tools/cabana/assets/.gitignore b/tools/cabana/assets/.gitignore new file mode 100644 index 0000000000..283034ca8b --- /dev/null +++ b/tools/cabana/assets/.gitignore @@ -0,0 +1 @@ +*.cc diff --git a/tools/cabana/assets/assets.qrc b/tools/cabana/assets/assets.qrc new file mode 100644 index 0000000000..6a8e5a3414 --- /dev/null +++ b/tools/cabana/assets/assets.qrc @@ -0,0 +1,6 @@ + + + ../../../third_party/bootstrap/bootstrap-icons.svg + cabana-icon.png + + diff --git a/tools/cabana/assets/cabana-icon.png b/tools/cabana/assets/cabana-icon.png new file mode 100644 index 0000000000..86add806fd Binary files /dev/null and b/tools/cabana/assets/cabana-icon.png differ diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 20edfd06ff..3a03ee0b70 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -11,8 +11,7 @@ #include #include "tools/cabana/commands.h" -#include "tools/cabana/signaledit.h" -#include "tools/cabana/streams/abstractstream.h" +#include "tools/cabana/signalview.h" // BinaryView @@ -33,7 +32,6 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { verticalHeader()->setSectionResizeMode(QHeaderView::Fixed); verticalHeader()->setDefaultSectionSize(CELL_HEIGHT); horizontalHeader()->hide(); - setFrameShape(QFrame::NoFrame); setShowGrid(false); setMouseTracking(true); setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); @@ -45,17 +43,17 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { setWhatsThis(R"( Binary View
- Shortcuts:
+ Shortcuts
Delete Signal: - x , - Backspace , - Delete
- Change endianness: e
- Change singedness: s
+  x , +  Backspace , +  Delete 
+ Change endianness:  e 
+ Change singedness:  s 
Open chart: - c , - p , - g
+  c , +  p , +  g  )"); } @@ -77,8 +75,8 @@ void BinaryView::addShortcuts() { QShortcut *shortcut_endian = new QShortcut(QKeySequence(Qt::Key_E), this); QObject::connect(shortcut_endian, &QShortcut::activated, [=]{ if (hovered_sig != nullptr) { - const Signal *hovered_sig_prev = hovered_sig; - Signal s = *hovered_sig; + const cabana::Signal *hovered_sig_prev = hovered_sig; + cabana::Signal s = *hovered_sig; s.is_little_endian = !s.is_little_endian; emit editSignal(hovered_sig, s); @@ -91,8 +89,8 @@ void BinaryView::addShortcuts() { QShortcut *shortcut_sign = new QShortcut(QKeySequence(Qt::Key_S), this); QObject::connect(shortcut_sign, &QShortcut::activated, [=]{ if (hovered_sig != nullptr) { - const Signal *hovered_sig_prev = hovered_sig; - Signal s = *hovered_sig; + const cabana::Signal *hovered_sig_prev = hovered_sig; + cabana::Signal s = *hovered_sig; s.is_signed = !s.is_signed; emit editSignal(hovered_sig, s); @@ -109,17 +107,17 @@ void BinaryView::addShortcuts() { QObject::connect(shortcut_plot_c, &QShortcut::activated, shortcut_plot, &QShortcut::activated); QObject::connect(shortcut_plot, &QShortcut::activated, [=]{ if (hovered_sig != nullptr) { - emit showChart(*model->msg_id, hovered_sig, true, false); + emit showChart(model->msg_id, hovered_sig, true, false); } }); } QSize BinaryView::minimumSizeHint() const { - return {(horizontalHeader()->minimumSectionSize() + 1) * 9 + VERTICAL_HEADER_WIDTH, - CELL_HEIGHT * std::min(model->rowCount(), 10)}; + return {(horizontalHeader()->minimumSectionSize() + 1) * 9 + VERTICAL_HEADER_WIDTH + 2, + CELL_HEIGHT * std::min(model->rowCount(), 10) + 2}; } -void BinaryView::highlight(const Signal *sig) { +void BinaryView::highlight(const cabana::Signal *sig) { if (sig != hovered_sig) { for (int i = 0; i < model->items.size(); ++i) { auto &item_sigs = model->items[i].sigs; @@ -128,6 +126,16 @@ void BinaryView::highlight(const Signal *sig) { emit model->dataChanged(index, index, {Qt::DisplayRole}); } } + + if (sig && underMouse()) { + QString tooltip = tr(R"(%1
+ Size:%2 LE:%3 SGD:%4 + )").arg(sig->name).arg(sig->size).arg(sig->is_little_endian ? "Y" : "N").arg(sig->is_signed ? "Y" : "N"); + QToolTip::showText(QCursor::pos(), tooltip, this, rect()); + } else { + QToolTip::showText(QCursor::pos(), "", this, rect()); + } + hovered_sig = sig; emit signalHovered(hovered_sig); } @@ -168,9 +176,8 @@ void BinaryView::mousePressEvent(QMouseEvent *event) { void BinaryView::highlightPosition(const QPoint &pos) { if (auto index = indexAt(viewport()->mapFromGlobal(pos)); index.isValid()) { auto item = (BinaryViewModel::Item *)index.internalPointer(); - const Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back(); + const cabana::Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back(); highlight(sig); - QToolTip::showText(pos, sig ? sig->name.c_str() : "", this, rect()); } } @@ -211,8 +218,6 @@ void BinaryView::setMessage(const MessageId &message_id) { } void BinaryView::refresh() { - if (!model->msg_id) return; - clearSelection(); anchor_index = QModelIndex(); resize_sig = nullptr; @@ -221,8 +226,8 @@ void BinaryView::refresh() { highlightPosition(QCursor::pos()); } -QSet BinaryView::getOverlappingSignals() const { - QSet overlapping; +QSet BinaryView::getOverlappingSignals() const { + QSet overlapping; for (auto &item : model->items) { if (item.sigs.size() > 1) for (auto s : item.sigs) overlapping += s; @@ -234,7 +239,19 @@ std::tuple BinaryView::getSelection(QModelIndex index) { if (index.column() == 8) { index = model->index(index.row(), 7); } - bool is_lb = (resize_sig && resize_sig->is_little_endian) || (!resize_sig && index < anchor_index); + bool is_lb = true; + if (resize_sig) { + is_lb = resize_sig->is_little_endian; + } else if (settings.drag_direction == Settings::DragDirection::MsbFirst) { + is_lb = index < anchor_index; + } else if (settings.drag_direction == Settings::DragDirection::LsbFirst) { + is_lb = !(index < anchor_index); + } else if (settings.drag_direction == Settings::DragDirection::AlwaysLE) { + is_lb = true; + } else if (settings.drag_direction == Settings::DragDirection::AlwaysBE) { + is_lb = false; + } + int cur_bit_idx = get_bit_index(index, is_lb); int anchor_bit_idx = get_bit_index(anchor_index, is_lb); auto [start_bit, end_bit] = std::minmax(cur_bit_idx, anchor_bit_idx); @@ -246,7 +263,7 @@ std::tuple BinaryView::getSelection(QModelIndex index) { void BinaryViewModel::refresh() { beginResetModel(); items.clear(); - if ((dbc_msg = dbc()->msg(*msg_id))) { + if (auto dbc_msg = dbc()->msg(msg_id)) { row_count = dbc_msg->size; items.resize(row_count * column_count); for (auto sig : dbc_msg->getSignals()) { @@ -255,7 +272,7 @@ void BinaryViewModel::refresh() { int bit_index = sig->is_little_endian ? bigEndianBitIndex(j) : j; int idx = column_count * (bit_index / 8) + bit_index % 8; if (idx >= items.size()) { - qWarning() << "signal " << sig->name.c_str() << "out of bounds.start_bit:" << sig->start_bit << "size:" << sig->size; + qWarning() << "signal " << sig->name << "out of bounds.start_bit:" << sig->start_bit << "size:" << sig->size; break; } if (j == start) sig->is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true; @@ -265,18 +282,30 @@ void BinaryViewModel::refresh() { } } } else { - row_count = can->lastMessage(*msg_id).dat.size(); + 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(); } +void BinaryViewModel::updateItem(int row, int col, const QString &val, const QColor &color) { + auto &item = items[row * column_count + col]; + if (item.val != val || item.bg_color != color) { + item.val = val; + item.bg_color = color; + auto idx = index(row, col); + emit dataChanged(idx, idx, {Qt::DisplayRole}); + } +} + void BinaryViewModel::updateState() { - auto prev_items = items; - const auto &last_msg = can->lastMessage(*msg_id); + const auto &last_msg = can->lastMessage(msg_id); const auto &binary = last_msg.dat; - // data size may changed. if (binary.size() > row_count) { beginInsertRows({}, row_count, binary.size() - 1); @@ -284,40 +313,24 @@ void BinaryViewModel::updateState() { items.resize(row_count * column_count); endInsertRows(); } - char hex[3] = {'\0'}; + + const double max_f = 255.0; + const double factor = 0.25; + const double scaler = max_f / log2(1.0 + factor); for (int i = 0; i < binary.size(); ++i) { for (int j = 0; j < 8; ++j) { - items[i * column_count + j].val = ((binary[i] >> (7 - j)) & 1) != 0 ? '1' : '0'; - + auto &item = items[i * column_count + j]; + QString val = ((binary[i] >> (7 - j)) & 1) != 0 ? "1" : "0"; // Bit update frequency based highlighting - bool has_signal = items[i * column_count + j].sigs.size() > 0; - double offset = has_signal ? 50 : 0; - - double min_f = last_msg.bit_change_counts[i][7 - j] == 0 ? offset : offset + 25; - double max_f = 255.0; - - double factor = 0.25; - double scaler = max_f / log2(1.0 + factor); - - double alpha = std::clamp(offset + log2(1.0 + factor * (double)last_msg.bit_change_counts[i][7 - j] / (double)last_msg.count) * scaler, min_f, max_f); - items[i * column_count + j].bg_color.setAlpha(alpha); - } - hex[0] = toHex(binary[i] >> 4); - hex[1] = toHex(binary[i] & 0xf); - items[i * column_count + 8].val = hex; - items[i * column_count + 8].bg_color = last_msg.colors[i]; - } - for (int i = binary.size(); i < row_count; ++i) { - for (int j = 0; j < column_count; ++j) { - items[i * column_count + j].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) { - auto idx = index(i / column_count, i % column_count); - emit dataChanged(idx, idx); + double offset = !item.sigs.empty() ? 50 : 0; + auto n = last_msg.bit_change_counts[i][7 - j]; + double min_f = n == 0 ? offset : offset + 25; + double alpha = std::clamp(offset + log2(1.0 + factor * (double)n / (double)last_msg.count) * scaler, min_f, max_f); + auto color = item.bg_color; + color.setAlpha(alpha); + updateItem(i, j, val, color); } + updateItem(i, 8, toHex(binary[i]), last_msg.colors[i]); } } @@ -374,10 +387,13 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op bg.setAlpha(std::max(50, bg.alpha())); } painter->fillRect(option.rect, bg); - painter->setPen(Qt::black); + painter->setPen(option.palette.color(QPalette::Text)); } } + 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); @@ -424,7 +440,7 @@ void BinaryItemDelegate::drawBorder(QPainter* painter, const QStyleOptionViewIte painter->setClipRegion(QRegion(rc).subtracted(subtract)); if (!subtract.isEmpty()) { // fill gaps inside corners. - painter->setPen(QPen(border_color, 2)); + painter->setPen(QPen(border_color, 2, Qt::SolidLine, Qt::SquareCap, Qt::MiterJoin)); for (auto &r : subtract) { painter->drawRect(r); } diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 6743b6cfac..f80b4520ed 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -1,14 +1,13 @@ #pragma once -#include - #include #include #include #include #include -#include "tools/cabana/dbcmanager.h" +#include "tools/cabana/dbc/dbcmanager.h" +#include "tools/cabana/streams/abstractstream.h" class BinaryItemDelegate : public QStyledItemDelegate { public: @@ -27,6 +26,7 @@ public: BinaryViewModel(QObject *parent) : QAbstractTableModel(parent) {} void refresh(); void updateState(); + void updateItem(int row, int col, const QString &val, const QColor &color); QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const { return {}; } int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; } @@ -43,13 +43,13 @@ public: QColor bg_color = QColor(102, 86, 169, 0); bool is_msb = false; bool is_lsb = false; - QString val = "-"; - QList sigs; + QString val; + QList sigs; + bool valid = false; }; std::vector items; - std::optional msg_id; - const DBCMsg *dbc_msg = nullptr; + MessageId msg_id; int row_count = 0; const int column_count = 9; }; @@ -60,19 +60,19 @@ class BinaryView : public QTableView { public: BinaryView(QWidget *parent = nullptr); void setMessage(const MessageId &message_id); - void highlight(const Signal *sig); - QSet getOverlappingSignals() const; + void highlight(const cabana::Signal *sig); + QSet getOverlappingSignals() const; inline void updateState() { model->updateState(); } QSize minimumSizeHint() const override; signals: - void signalClicked(const Signal *sig); - void signalHovered(const Signal *sig); + void signalClicked(const cabana::Signal *sig); + void signalHovered(const cabana::Signal *sig); void addSignal(int start_bit, int size, bool little_endian); - void resizeSignal(const Signal *sig, int from, int size); - void removeSignal(const Signal *sig); - void editSignal(const Signal *origin_s, Signal &s); - void showChart(const MessageId &id, const Signal *sig, bool show, bool merge); + void resizeSignal(const cabana::Signal *sig, int from, int size); + void removeSignal(const cabana::Signal *sig); + void editSignal(const cabana::Signal *origin_s, cabana::Signal &s); + void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge); private: void addShortcuts(); @@ -88,7 +88,7 @@ private: QModelIndex anchor_index; BinaryViewModel *model; BinaryItemDelegate *delegate; - const Signal *resize_sig = nullptr; - const Signal *hovered_sig = nullptr; + const cabana::Signal *resize_sig = nullptr; + const cabana::Signal *hovered_sig = nullptr; friend class BinaryItemDelegate; }; diff --git a/tools/cabana/cabana b/tools/cabana/cabana deleted file mode 100755 index 14647b6a10..0000000000 --- a/tools/cabana/cabana +++ /dev/null @@ -1,4 +0,0 @@ -#!/bin/sh -cd "$(dirname "$0")" -export LD_LIBRARY_PATH="../../opendbc/can:$LD_LIBRARY_PATH" -exec ./_cabana "$@" diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index e028e383c2..0a4b9eb112 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -1,19 +1,21 @@ #include #include -#include "common/prefix.h" #include "selfdrive/ui/qt/util.h" #include "tools/cabana/mainwin.h" -#include "tools/cabana/route.h" -#include "tools/cabana/streams/livestream.h" +#include "tools/cabana/streamselector.h" +#include "tools/cabana/streams/devicestream.h" +#include "tools/cabana/streams/pandastream.h" #include "tools/cabana/streams/replaystream.h" int main(int argc, char *argv[]) { QCoreApplication::setApplicationName("Cabana"); QCoreApplication::setAttribute(Qt::AA_ShareOpenGLContexts); - initApp(argc, argv); + initApp(argc, argv, false); QApplication app(argc, argv); app.setApplicationDisplayName("Cabana"); + app.setWindowIcon(QIcon(":cabana-icon.png")); + utils::setTheme(settings.theme); QCommandLineParser cmd_parser; cmd_parser.addHelpOption(); @@ -22,22 +24,26 @@ int main(int argc, char *argv[]) { cmd_parser.addOption({"qcam", "load qcamera"}); cmd_parser.addOption({"ecam", "load wide road camera"}); cmd_parser.addOption({"stream", "read can messages from live streaming"}); + cmd_parser.addOption({"panda", "read can messages from panda"}); + cmd_parser.addOption({"panda-serial", "read can messages from panda with given serial", "panda-serial"}); cmd_parser.addOption({"zmq", "the ip address on which to receive zmq messages", "zmq"}); cmd_parser.addOption({"data_dir", "local directory with routes", "data_dir"}); cmd_parser.addOption({"no-vipc", "do not output video"}); cmd_parser.addOption({"dbc", "dbc file to open", "dbc"}); cmd_parser.process(app); - std::unique_ptr op_prefix; - std::unique_ptr stream; + QString dbc_file = cmd_parser.isSet("dbc") ? cmd_parser.value("dbc") : ""; + AbstractStream *stream = nullptr; if (cmd_parser.isSet("stream")) { - stream.reset(new LiveStream(&app, cmd_parser.value("zmq"))); + stream = new DeviceStream(&app, cmd_parser.value("zmq")); + } else if (cmd_parser.isSet("panda") || cmd_parser.isSet("panda-serial")) { + PandaStreamConfig config = {}; + if (cmd_parser.isSet("panda-serial")) { + config.serial = cmd_parser.value("panda-serial"); + } + stream = new PandaStream(&app, config); } else { - // TODO: Remove when OpenpilotPrefix supports ZMQ -#ifndef __APPLE__ - op_prefix.reset(new OpenpilotPrefix()); -#endif uint32_t replay_flags = REPLAY_FLAG_NONE; if (cmd_parser.isSet("ecam")) { replay_flags |= REPLAY_FLAG_ECAM; @@ -55,24 +61,27 @@ int main(int argc, char *argv[]) { route = DEMO_ROUTE; } - auto replay_stream = new ReplayStream(replay_flags, &app); - stream.reset(replay_stream); if (route.isEmpty()) { - if (OpenRouteDialog dlg(nullptr); !dlg.exec()) { + StreamSelector dlg(&stream); + dlg.exec(); + dbc_file = dlg.dbcFile(); + } else { + auto replay_stream = new ReplayStream(&app); + if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) { return 0; } - } else if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"))) { - return 0; + stream = replay_stream; } } MainWindow w; - - // Load DBC - if (cmd_parser.isSet("dbc")) { - w.loadFile(cmd_parser.value("dbc")); + if (!stream) { + stream = new DummyStream(&app); + } + stream->start(); + if (!dbc_file.isEmpty()) { + w.loadFile(dbc_file); } - w.show(); return app.exec(); } diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc new file mode 100644 index 0000000000..a7f700f3c2 --- /dev/null +++ b/tools/cabana/chart/chart.cc @@ -0,0 +1,811 @@ +#include "tools/cabana/chart/chart.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "tools/cabana/chart/chartswidget.h" + +// ChartAxisElement's padding is 4 (https://codebrowser.dev/qt5/qtcharts/src/charts/axis/chartaxiselement_p.h.html) +const int AXIS_X_TOP_MARGIN = 4; +static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; } + +ChartView::ChartView(const std::pair &x_range, ChartsWidget *parent) : charts_widget(parent), tip_label(this), QChartView(nullptr, parent) { + series_type = (SeriesType)settings.chart_series_type; + QChart *chart = new QChart(); + chart->setBackgroundVisible(false); + axis_x = new QValueAxis(this); + axis_y = new QValueAxis(this); + chart->addAxis(axis_x, Qt::AlignBottom); + chart->addAxis(axis_y, Qt::AlignLeft); + chart->legend()->layout()->setContentsMargins(0, 0, 0, 0); + chart->legend()->setShowToolTips(true); + chart->setMargins({0, 0, 0, 0}); + + axis_x->setRange(x_range.first, x_range.second); + setChart(chart); + + createToolButtons(); + // TODO: enable zoomIn/seekTo in live streaming mode. + setRubberBand(QChartView::HorizontalRubberBand); + setMouseTracking(true); + setTheme(settings.theme == DARK_THEME ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight); + signal_value_font.setPointSize(9); + + QObject::connect(axis_y, &QValueAxis::rangeChanged, this, &ChartView::resetChartCache); + QObject::connect(axis_y, &QAbstractAxis::titleTextChanged, this, &ChartView::resetChartCache); + QObject::connect(window()->windowHandle(), &QWindow::screenChanged, this, &ChartView::resetChartCache); + + QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartView::signalRemoved); + QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated); + QObject::connect(dbc(), &DBCManager::msgRemoved, this, &ChartView::msgRemoved); + QObject::connect(dbc(), &DBCManager::msgUpdated, this, &ChartView::msgUpdated); +} + +void ChartView::createToolButtons() { + move_icon = new QGraphicsPixmapItem(utils::icon("grip-horizontal"), chart()); + move_icon->setToolTip(tr("Drag and drop to move chart")); + + QToolButton *remove_btn = new ToolButton("x", tr("Remove Chart")); + close_btn_proxy = new QGraphicsProxyWidget(chart()); + close_btn_proxy->setWidget(remove_btn); + close_btn_proxy->setZValue(chart()->zValue() + 11); + + // series types + QMenu *menu = new QMenu(this); + auto change_series_group = new QActionGroup(menu); + change_series_group->setExclusive(true); + QStringList types{tr("Line"), tr("Step Line"), tr("Scatter")}; + for (int i = 0; i < types.size(); ++i) { + QAction *act = new QAction(types[i], change_series_group); + act->setData(i); + act->setCheckable(true); + act->setChecked(i == (int)series_type); + menu->addAction(act); + } + menu->addSeparator(); + menu->addAction(tr("Manage Signals"), this, &ChartView::manageSignals); + split_chart_act = menu->addAction(tr("Split Chart"), [this]() { charts_widget->splitChart(this); }); + + QToolButton *manage_btn = new ToolButton("list", ""); + manage_btn->setMenu(menu); + manage_btn->setPopupMode(QToolButton::InstantPopup); + manage_btn->setStyleSheet("QToolButton::menu-indicator { image: none; }"); + manage_btn_proxy = new QGraphicsProxyWidget(chart()); + manage_btn_proxy->setWidget(manage_btn); + manage_btn_proxy->setZValue(chart()->zValue() + 11); + + QObject::connect(remove_btn, &QToolButton::clicked, [this]() { charts_widget->removeChart(this); }); + QObject::connect(change_series_group, &QActionGroup::triggered, [this](QAction *action) { + setSeriesType((SeriesType)action->data().toInt()); + }); +} + +QSize ChartView::sizeHint() const { + return {CHART_MIN_WIDTH, settings.chart_height}; +} + +void ChartView::setTheme(QChart::ChartTheme theme) { + chart()->setTheme(theme); + if (theme == QChart::ChartThemeDark) { + axis_x->setTitleBrush(palette().text()); + axis_x->setLabelsBrush(palette().text()); + axis_y->setTitleBrush(palette().text()); + axis_y->setLabelsBrush(palette().text()); + chart()->legend()->setLabelColor(palette().color(QPalette::Text)); + } + for (auto &s : sigs) { + s.series->setColor(getColor(s.sig)); + } +} + +void ChartView::addSignal(const MessageId &msg_id, const cabana::Signal *sig) { + if (hasSignal(msg_id, sig)) return; + + QXYSeries *series = createSeries(series_type, getColor(sig)); + sigs.push_back({.msg_id = msg_id, .sig = sig, .series = series}); + updateSeries(sig); + updateSeriesPoints(); + updateTitle(); + emit charts_widget->seriesChanged(); +} + +bool ChartView::hasSignal(const MessageId &msg_id, const cabana::Signal *sig) const { + return std::any_of(sigs.cbegin(), sigs.cend(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; }); +} + +void ChartView::removeIf(std::function predicate) { + int prev_size = sigs.size(); + for (auto it = sigs.begin(); it != sigs.end(); /**/) { + if (predicate(*it)) { + chart()->removeSeries(it->series); + it->series->deleteLater(); + it = sigs.erase(it); + } else { + ++it; + } + } + if (sigs.empty()) { + charts_widget->removeChart(this); + } else if (sigs.size() != prev_size) { + emit charts_widget->seriesChanged(); + updateAxisY(); + resetChartCache(); + } +} + +void ChartView::signalUpdated(const cabana::Signal *sig) { + if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.sig == sig; })) { + updateTitle(); + updateSeries(sig); + } +} + +void ChartView::msgUpdated(MessageId id) { + if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.msg_id == id; })) + updateTitle(); +} + +void ChartView::manageSignals() { + SignalSelector dlg(tr("Mange Chart"), this); + for (auto &s : sigs) { + dlg.addSelected(s.msg_id, s.sig); + } + if (dlg.exec() == QDialog::Accepted) { + auto items = dlg.seletedItems(); + for (auto s : items) { + addSignal(s->msg_id, s->sig); + } + removeIf([&](auto &s) { + return std::none_of(items.cbegin(), items.cend(), [&](auto &it) { return s.msg_id == it->msg_id && s.sig == it->sig; }); + }); + } +} + +void ChartView::resizeEvent(QResizeEvent *event) { + qreal left, top, right, bottom; + chart()->layout()->getContentsMargins(&left, &top, &right, &bottom); + move_icon->setPos(left, top); + close_btn_proxy->setPos(rect().right() - right - close_btn_proxy->size().width(), top); + int x = close_btn_proxy->pos().x() - manage_btn_proxy->size().width() - style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing); + manage_btn_proxy->setPos(x, top); + if (align_to > 0) { + updatePlotArea(align_to, true); + } + QChartView::resizeEvent(event); +} + +void ChartView::updatePlotArea(int left_pos, bool force) { + if (align_to != left_pos || force) { + align_to = left_pos; + + qreal left, top, right, bottom; + chart()->layout()->getContentsMargins(&left, &top, &right, &bottom); + QSizeF legend_size = chart()->legend()->layout()->minimumSize(); + legend_size.setWidth(manage_btn_proxy->sceneBoundingRect().left() - move_icon->sceneBoundingRect().right()); + chart()->legend()->setGeometry({move_icon->sceneBoundingRect().topRight(), legend_size}); + + // add top space for signal value + int adjust_top = chart()->legend()->geometry().height() + QFontMetrics(signal_value_font).height() + 3; + adjust_top = std::max(adjust_top, manage_btn_proxy->sceneBoundingRect().height() + style()->pixelMetric(QStyle::PM_LayoutTopMargin)); + // add right space for x-axis label + QSizeF x_label_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, QString::number(axis_x->max(), 'f', 2)); + x_label_size += QSizeF{5, 5}; + chart()->setPlotArea(rect().adjusted(align_to + left, adjust_top + top, -x_label_size.width() / 2 - right, -x_label_size.height() - bottom)); + chart()->layout()->invalidate(); + resetChartCache(); + } +} + +void ChartView::updateTitle() { + for (QLegendMarker *marker : chart()->legend()->markers()) { + QObject::connect(marker, &QLegendMarker::clicked, this, &ChartView::handleMarkerClicked, Qt::UniqueConnection); + } + for (auto &s : sigs) { + auto decoration = s.series->isVisible() ? "none" : "line-through"; + s.series->setName(QString("%2 %3 %4").arg(decoration, s.sig->name, msgName(s.msg_id), s.msg_id.toString())); + } + split_chart_act->setEnabled(sigs.size() > 1); + resetChartCache(); +} + +void ChartView::updatePlot(double cur, double min, double max) { + cur_sec = cur; + if (min != axis_x->min() || max != axis_x->max()) { + axis_x->setRange(min, max); + updateAxisY(); + updateSeriesPoints(); + // update tooltip + if (tooltip_x >= 0) { + showTip(chart()->mapToValue({tooltip_x, 0}).x()); + } + resetChartCache(); + } + viewport()->update(); +} + +void ChartView::updateSeriesPoints() { + // Show points when zoomed in enough + for (auto &s : sigs) { + auto begin = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan); + auto end = std::lower_bound(begin, s.vals.cend(), axis_x->max(), xLessThan); + if (begin != end) { + int num_points = std::max((end - begin), 1); + QPointF right_pt = end == s.vals.cend() ? s.vals.back() : *end; + double pixels_per_point = (chart()->mapToPosition(right_pt).x() - chart()->mapToPosition(*begin).x()) / num_points; + + if (series_type == SeriesType::Scatter) { + qreal size = std::clamp(pixels_per_point / 2.0, 2.0, 8.0); + if (s.series->useOpenGL()) { + size *= devicePixelRatioF(); + } + ((QScatterSeries *)s.series)->setMarkerSize(size); + } else { + s.series->setPointsVisible(pixels_per_point > 20); + } + } + } +} + +void ChartView::updateSeries(const cabana::Signal *sig, bool clear) { + for (auto &s : sigs) { + if (!sig || s.sig == sig) { + if (clear) { + s.vals.clear(); + s.step_vals.clear(); + s.last_value_mono_time = 0; + } + s.series->setColor(getColor(s.sig)); + + const auto &msgs = can->events(s.msg_id); + s.vals.reserve(msgs.capacity()); + s.step_vals.reserve(msgs.capacity() * 2); + + auto first = std::upper_bound(msgs.cbegin(), msgs.cend(), s.last_value_mono_time, [](uint64_t ts, auto e) { + return ts < e->mono_time; + }); + const double route_start_time = can->routeStartTime(); + for (auto end = msgs.cend(); first != end; ++first) { + const CanEvent *e = *first; + double value = get_raw_value(e->dat, e->size, *s.sig); + double ts = e->mono_time / 1e9 - route_start_time; // seconds + s.vals.append({ts, value}); + if (!s.step_vals.empty()) { + s.step_vals.append({ts, s.step_vals.back().y()}); + } + s.step_vals.append({ts, value}); + s.last_value_mono_time = e->mono_time; + } + if (!can->liveStreaming()) { + s.segment_tree.build(s.vals); + } + s.series->replace(series_type == SeriesType::StepLine ? s.step_vals : s.vals); + } + } + updateAxisY(); + // invoke resetChartCache in ui thread + QMetaObject::invokeMethod(this, &ChartView::resetChartCache, Qt::QueuedConnection); +} + +// auto zoom on yaxis +void ChartView::updateAxisY() { + if (sigs.isEmpty()) return; + + double min = std::numeric_limits::max(); + double max = std::numeric_limits::lowest(); + QString unit = sigs[0].sig->unit; + + for (auto &s : sigs) { + if (!s.series->isVisible()) continue; + + // Only show unit when all signals have the same unit + if (unit != s.sig->unit) { + unit.clear(); + } + + auto first = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan); + auto last = std::lower_bound(first, s.vals.cend(), 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() < 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.cbegin(), first), std::distance(s.vals.cbegin(), last)); + 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; + + if (axis_y->titleText() != unit) { + axis_y->setTitleText(unit); + y_label_width = 0; // recalc width + } + + double delta = std::abs(max - min) < 1e-3 ? 1 : (max - min) * 0.05; + auto [min_y, max_y, tick_count] = getNiceAxisNumbers(min - delta, max + delta, 3); + if (min_y != axis_y->min() || max_y != axis_y->max() || y_label_width == 0) { + axis_y->setRange(min_y, max_y); + axis_y->setTickCount(tick_count); + + int n = qMax(int(-qFloor(std::log10((max_y - min_y) / (tick_count - 1)))), 0) + 1; + int max_label_width = 0; + QFontMetrics fm(axis_y->labelsFont()); + for (int i = 0; i < tick_count; i++) { + qreal value = min_y + (i * (max_y - min_y) / (tick_count - 1)); + max_label_width = std::max(max_label_width, fm.width(QString::number(value, 'f', n))); + } + + int title_spacing = unit.isEmpty() ? 0 : QFontMetrics(axis_y->titleFont()).size(Qt::TextSingleLine, unit).height(); + y_label_width = title_spacing + max_label_width + 15; + axis_y->setLabelFormat(QString("%.%1f").arg(n)); + emit axisYLabelWidthChanged(y_label_width); + } +} + +std::tuple ChartView::getNiceAxisNumbers(qreal min, qreal max, int tick_count) { + qreal range = niceNumber((max - min), true); // range with ceiling + qreal step = niceNumber(range / (tick_count - 1), false); + min = qFloor(min / step); + max = qCeil(max / step); + tick_count = int(max - min) + 1; + return {min * step, max * step, tick_count}; +} + +// nice numbers can be expressed as form of 1*10^n, 2* 10^n or 5*10^n +qreal ChartView::niceNumber(qreal x, bool ceiling) { + qreal z = qPow(10, qFloor(std::log10(x))); //find corresponding number of the form of 10^n than is smaller than x + qreal q = x / z; //q<10 && q>=1; + if (ceiling) { + if (q <= 1.0) q = 1; + else if (q <= 2.0) q = 2; + else if (q <= 5.0) q = 5; + else q = 10; + } else { + if (q < 1.5) q = 1; + else if (q < 3.0) q = 2; + else if (q < 7.0) q = 5; + else q = 10; + } + return q * z; +} + +void ChartView::leaveEvent(QEvent *event) { + if (tip_label.isVisible()) { + charts_widget->showValueTip(-1); + } + QChartView::leaveEvent(event); +} + +QPixmap getBlankShadowPixmap(const QPixmap &px, int radius) { + QGraphicsDropShadowEffect *e = new QGraphicsDropShadowEffect; + e->setColor(QColor(40, 40, 40, 245)); + e->setOffset(0, 0); + e->setBlurRadius(radius); + + qreal dpr = px.devicePixelRatio(); + QPixmap blank(px.size()); + blank.setDevicePixelRatio(dpr); + blank.fill(Qt::white); + + QGraphicsScene scene; + QGraphicsPixmapItem item(blank); + item.setGraphicsEffect(e); + scene.addItem(&item); + + QPixmap shadow(px.size() + QSize(radius * dpr * 2, radius * dpr * 2)); + shadow.setDevicePixelRatio(dpr); + shadow.fill(Qt::transparent); + QPainter p(&shadow); + scene.render(&p, {QPoint(), shadow.size() / dpr}, item.boundingRect().adjusted(-radius, -radius, radius, radius)); + return shadow; +} + +static QPixmap getDropPixmap(const QPixmap &src) { + static QPixmap shadow_px; + const int radius = 10; + if (shadow_px.size() != src.size() + QSize(radius * 2, radius * 2)) { + shadow_px = getBlankShadowPixmap(src, radius); + } + QPixmap px = shadow_px; + QPainter p(&px); + QRectF target_rect(QPointF(radius, radius), src.size() / src.devicePixelRatio()); + p.drawPixmap(target_rect.topLeft(), src); + p.setCompositionMode(QPainter::CompositionMode_DestinationIn); + p.fillRect(target_rect, QColor(0, 0, 0, 200)); + return px; +} + +void ChartView::mousePressEvent(QMouseEvent *event) { + if (event->button() == Qt::LeftButton && move_icon->sceneBoundingRect().contains(event->pos())) { + QMimeData *mimeData = new QMimeData; + mimeData->setData(CHART_MIME_TYPE, QByteArray::number((qulonglong)this)); + QPixmap px = grab().scaledToWidth(CHART_MIN_WIDTH * viewport()->devicePixelRatio(), Qt::SmoothTransformation); + charts_widget->stopAutoScroll(); + QDrag *drag = new QDrag(this); + drag->setMimeData(mimeData); + drag->setPixmap(getDropPixmap(px)); + drag->setHotSpot(-QPoint(5, 5)); + drag->exec(Qt::CopyAction | Qt::MoveAction, Qt::MoveAction); + } else if (event->button() == Qt::LeftButton && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) { + // Save current playback state when scrubbing + resume_after_scrub = !can->isPaused(); + if (resume_after_scrub) { + can->pause(true); + } + is_scrubbing = true; + } else { + QChartView::mousePressEvent(event); + } +} + +void ChartView::mouseReleaseEvent(QMouseEvent *event) { + auto rubber = findChild(); + if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) { + rubber->hide(); + QRectF rect = rubber->geometry().normalized(); + double min = chart()->mapToValue(rect.topLeft()).x(); + double max = chart()->mapToValue(rect.bottomRight()).x(); + + // Prevent zooming/seeking past the end of the route + min = std::clamp(min, 0., can->totalSeconds()); + max = std::clamp(max, 0., can->totalSeconds()); + + if (rubber->width() <= 0) { + // no rubber dragged, seek to mouse position + can->seekTo(min); + } else if (rubber->width() > 10) { + charts_widget->zoom_undo_stack->push(new ZoomCommand(charts_widget, {min, max})); + } else { + viewport()->update(); + } + event->accept(); + } else if (event->button() == Qt::RightButton) { + charts_widget->zoom_undo_stack->undo(); + event->accept(); + } else { + QGraphicsView::mouseReleaseEvent(event); + } + + // Resume playback if we were scrubbing + is_scrubbing = false; + if (resume_after_scrub) { + can->pause(false); + resume_after_scrub = false; + } +} + +void ChartView::mouseMoveEvent(QMouseEvent *ev) { + const auto plot_area = chart()->plotArea(); + // Scrubbing + if (is_scrubbing && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) { + if (plot_area.contains(ev->pos())) { + can->seekTo(std::clamp(chart()->mapToValue(ev->pos()).x(), 0., can->totalSeconds())); + } + } + + auto rubber = findChild(); + bool is_zooming = rubber && rubber->isVisible(); + clearTrackPoints(); + + if (!is_zooming && plot_area.contains(ev->pos())) { + const double sec = chart()->mapToValue(ev->pos()).x(); + charts_widget->showValueTip(sec); + } else if (tip_label.isVisible()) { + charts_widget->showValueTip(-1); + } + + QChartView::mouseMoveEvent(ev); + if (is_zooming) { + QRect rubber_rect = rubber->geometry(); + rubber_rect.setLeft(std::max(rubber_rect.left(), (int)plot_area.left())); + rubber_rect.setRight(std::min(rubber_rect.right(), (int)plot_area.right())); + if (rubber_rect != rubber->geometry()) { + rubber->setGeometry(rubber_rect); + } + viewport()->update(); + } +} + +void ChartView::showTip(double sec) { + QRect tip_area(0, chart()->plotArea().top(), rect().width(), chart()->plotArea().height()); + QRect visible_rect = charts_widget->chartVisibleRect(this).intersected(tip_area); + if (visible_rect.isEmpty()) { + tip_label.hide(); + return; + } + + tooltip_x = chart()->mapToPosition({sec, 0}).x(); + qreal x = -1; + QStringList text_list; + for (auto &s : sigs) { + if (s.series->isVisible()) { + QString value = "--"; + // use reverse iterator to find last item <= sec. + auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), sec, [](auto &p, double x) { return p.x() > x; }); + if (it != s.vals.crend() && it->x() >= axis_x->min()) { + value = QString::number(it->y()); + s.track_pt = *it; + x = std::max(x, chart()->mapToPosition(*it).x()); + } + QString name = sigs.size() > 1 ? s.sig->name + ": " : ""; + QString min = s.min == std::numeric_limits::max() ? "--" : QString::number(s.min); + QString max = s.max == std::numeric_limits::lowest() ? "--" : QString::number(s.max); + text_list << QString("■ %2%3 (%4, %5)") + .arg(s.series->color().name(), name, value, min, max); + } + } + if (x < 0) { + x = tooltip_x; + } + QPoint pt(x, chart()->plotArea().top()); + text_list.push_front(QString::number(chart()->mapToValue({x, 0}).x(), 'f', 3)); + QString text = "

" % text_list.join("
") % "

"; + tip_label.showText(pt, text, this, visible_rect); + viewport()->update(); +} + +void ChartView::hideTip() { + clearTrackPoints(); + tooltip_x = -1; + tip_label.hide(); + viewport()->update(); +} + +void ChartView::dragEnterEvent(QDragEnterEvent *event) { + if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) { + drawDropIndicator(event->source() != this); + event->acceptProposedAction(); + } +} + +void ChartView::dragMoveEvent(QDragMoveEvent *event) { + if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) { + event->setDropAction(event->source() == this ? Qt::MoveAction : Qt::CopyAction); + event->accept(); + } + charts_widget->startAutoScroll(); +} + +void ChartView::dropEvent(QDropEvent *event) { + if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) { + if (event->source() != this) { + ChartView *source_chart = (ChartView *)event->source(); + for (auto &s : source_chart->sigs) { + source_chart->chart()->removeSeries(s.series); + addSeries(s.series); + } + sigs.append(source_chart->sigs); + updateAxisY(); + updateTitle(); + startAnimation(); + + source_chart->sigs.clear(); + charts_widget->removeChart(source_chart); + event->acceptProposedAction(); + } + can_drop = false; + } +} + +void ChartView::resetChartCache() { + chart_pixmap = QPixmap(); + viewport()->update(); +} + +void ChartView::startAnimation() { + QGraphicsOpacityEffect *eff = new QGraphicsOpacityEffect(this); + viewport()->setGraphicsEffect(eff); + QPropertyAnimation *a = new QPropertyAnimation(eff, "opacity"); + a->setDuration(250); + a->setStartValue(0.3); + a->setEndValue(1); + a->setEasingCurve(QEasingCurve::InBack); + a->start(QPropertyAnimation::DeleteWhenStopped); +} + +void ChartView::paintEvent(QPaintEvent *event) { + if (!can->liveStreaming()) { + if (chart_pixmap.isNull()) { + const qreal dpr = viewport()->devicePixelRatioF(); + chart_pixmap = QPixmap(viewport()->size() * dpr); + chart_pixmap.setDevicePixelRatio(dpr); + QPainter p(&chart_pixmap); + p.setRenderHints(QPainter::Antialiasing); + drawBackground(&p, viewport()->rect()); + scene()->setSceneRect(viewport()->rect()); + scene()->render(&p, viewport()->rect()); + } + + QPainter painter(viewport()); + painter.setRenderHints(QPainter::Antialiasing); + painter.drawPixmap(QPoint(), chart_pixmap); + if (can_drop) { + painter.setPen(QPen(palette().color(QPalette::Highlight), 4)); + painter.drawRect(viewport()->rect()); + } + QRectF exposed_rect = mapToScene(event->region().boundingRect()).boundingRect(); + drawForeground(&painter, exposed_rect); + } else { + QChartView::paintEvent(event); + } +} + +void ChartView::drawBackground(QPainter *painter, const QRectF &rect) { + painter->fillRect(rect, palette().color(QPalette::Base)); +} + +void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { + drawTimeline(painter); + // draw track points + painter->setPen(Qt::NoPen); + qreal track_line_x = -1; + for (auto &s : sigs) { + if (!s.track_pt.isNull() && s.series->isVisible()) { + painter->setBrush(s.series->color().darker(125)); + QPointF pos = chart()->mapToPosition(s.track_pt); + painter->drawEllipse(pos, 5.5, 5.5); + track_line_x = std::max(track_line_x, pos.x()); + } + } + if (track_line_x > 0) { + auto plot_area = chart()->plotArea(); + painter->setPen(QPen(Qt::darkGray, 1, Qt::DashLine)); + painter->drawLine(QPointF{track_line_x, plot_area.top()}, QPointF{track_line_x, plot_area.bottom()}); + } + + // paint points. OpenGL mode lacks certain features (such as showing points) + painter->setPen(Qt::NoPen); + for (auto &s : sigs) { + if (s.series->useOpenGL() && s.series->isVisible() && s.series->pointsVisible()) { + auto first = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan); + auto last = std::lower_bound(first, s.vals.cend(), axis_x->max(), xLessThan); + painter->setBrush(s.series->color()); + for (auto it = first; it != last; ++it) { + painter->drawEllipse(chart()->mapToPosition(*it), 4, 4); + } + } + } + + // paint zoom range + auto rubber = findChild(); + if (rubber && rubber->isVisible() && rubber->width() > 1) { + painter->setPen(Qt::white); + auto rubber_rect = rubber->geometry().normalized(); + for (const auto &pt : {rubber_rect.bottomLeft(), rubber_rect.bottomRight()}) { + QString sec = QString::number(chart()->mapToValue(pt).x(), 'f', 2); + auto r = painter->fontMetrics().boundingRect(sec).adjusted(-6, -AXIS_X_TOP_MARGIN, 6, AXIS_X_TOP_MARGIN); + pt == rubber_rect.bottomLeft() ? r.moveTopRight(pt + QPoint{0, 2}) : r.moveTopLeft(pt + QPoint{0, 2}); + painter->fillRect(r, Qt::gray); + painter->drawText(r, Qt::AlignCenter, sec); + } + } +} + +void ChartView::drawTimeline(QPainter *painter) { + const auto plot_area = chart()->plotArea(); + // draw line + qreal x = std::clamp(chart()->mapToPosition(QPointF{cur_sec, 0}).x(), plot_area.left(), plot_area.right()); + painter->setPen(QPen(chart()->titleBrush().color(), 2)); + painter->drawLine(QPointF{x, plot_area.top()}, QPointF{x, plot_area.bottom() + 1}); + + // draw current time + QString time_str = QString::number(cur_sec, 'f', 2); + QSize time_str_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, time_str) + QSize(8, 2); + QRect time_str_rect(QPoint(x - time_str_size.width() / 2, plot_area.bottom() + AXIS_X_TOP_MARGIN), time_str_size); + QPainterPath path; + path.addRoundedRect(time_str_rect, 3, 3); + painter->fillPath(path, settings.theme == DARK_THEME ? Qt::darkGray : Qt::gray); + painter->setPen(palette().color(QPalette::BrightText)); + painter->setFont(axis_x->labelsFont()); + painter->drawText(time_str_rect, Qt::AlignCenter, time_str); + + // draw signal value + auto item_group = qgraphicsitem_cast(chart()->legend()->childItems()[0]); + assert(item_group != nullptr); + auto legend_markers = item_group->childItems(); + assert(legend_markers.size() == sigs.size()); + + painter->setFont(signal_value_font); + painter->setPen(chart()->legend()->labelColor()); + int i = 0; + for (auto &s : sigs) { + QString value = "--"; + if (s.series->isVisible()) { + auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), cur_sec, [](auto &p, double x) { return p.x() > x; }); + if (it != s.vals.crend() && it->x() >= axis_x->min()) { + value = s.sig->formatValue(it->y()); + } + } + QRectF marker_rect = legend_markers[i++]->sceneBoundingRect(); + QRectF value_rect(marker_rect.bottomLeft() - QPoint(0, 1), marker_rect.size()); + QString elided_val = painter->fontMetrics().elidedText(value, Qt::ElideRight, value_rect.width()); + painter->drawText(value_rect, Qt::AlignHCenter | Qt::AlignTop, elided_val); + } +} + +QXYSeries *ChartView::createSeries(SeriesType type, QColor color) { + QXYSeries *series = nullptr; + if (type == SeriesType::Line) { + series = new QLineSeries(this); + chart()->legend()->setMarkerShape(QLegend::MarkerShapeRectangle); + } else if (type == SeriesType::StepLine) { + series = new QLineSeries(this); + chart()->legend()->setMarkerShape(QLegend::MarkerShapeFromSeries); + } else { + series = new QScatterSeries(this); + chart()->legend()->setMarkerShape(QLegend::MarkerShapeCircle); + } + series->setColor(color); + // TODO: Due to a bug in CameraWidget the camera frames + // are drawn instead of the graphs on MacOS. Re-enable OpenGL when fixed +#ifndef __APPLE__ + series->setUseOpenGL(true); + // Qt doesn't properly apply device pixel ratio in OpenGL mode + QPen pen = series->pen(); + pen.setWidthF(2.0 * devicePixelRatioF()); + series->setPen(pen); +#endif + addSeries(series); + return series; +} + +void ChartView::addSeries(QXYSeries *series) { + chart()->addSeries(series); + series->attachAxis(axis_x); + series->attachAxis(axis_y); + + // disables the delivery of mouse events to the opengl widget. + // this enables the user to select the zoom area when the mouse press on the data point. + auto glwidget = findChild(); + if (glwidget && !glwidget->testAttribute(Qt::WA_TransparentForMouseEvents)) { + glwidget->setAttribute(Qt::WA_TransparentForMouseEvents); + } +} + +void ChartView::setSeriesType(SeriesType type) { + if (type != series_type) { + series_type = type; + for (auto &s : sigs) { + chart()->removeSeries(s.series); + s.series->deleteLater(); + } + for (auto &s : sigs) { + auto series = createSeries(series_type, getColor(s.sig)); + series->replace(series_type == SeriesType::StepLine ? s.step_vals : s.vals); + s.series = series; + } + updateSeriesPoints(); + updateTitle(); + } +} + +void ChartView::handleMarkerClicked() { + auto marker = qobject_cast(sender()); + Q_ASSERT(marker); + if (sigs.size() > 1) { + auto series = marker->series(); + series->setVisible(!series->isVisible()); + marker->setVisible(true); + updateAxisY(); + updateTitle(); + } +} diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h new file mode 100644 index 0000000000..3bb191e5cd --- /dev/null +++ b/tools/cabana/chart/chart.h @@ -0,0 +1,111 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +using namespace QtCharts; + +#include "tools/cabana/chart/tiplabel.h" +#include "tools/cabana/dbc/dbcmanager.h" +#include "tools/cabana/streams/abstractstream.h" + +enum class SeriesType { + Line = 0, + StepLine, + Scatter +}; + +class ChartsWidget; +class ChartView : public QChartView { + Q_OBJECT + +public: + ChartView(const std::pair &x_range, ChartsWidget *parent = nullptr); + void addSignal(const MessageId &msg_id, const cabana::Signal *sig); + bool hasSignal(const MessageId &msg_id, const cabana::Signal *sig) const; + void updateSeries(const cabana::Signal *sig = nullptr, bool clear = true); + void updatePlot(double cur, double min, double max); + void setSeriesType(SeriesType type); + void updatePlotArea(int left, bool force = false); + void showTip(double sec); + void hideTip(); + void startAnimation(); + + struct SigItem { + MessageId msg_id; + const cabana::Signal *sig = nullptr; + QXYSeries *series = nullptr; + QVector vals; + QVector step_vals; + uint64_t last_value_mono_time = 0; + QPointF track_pt{}; + SegmentTree segment_tree; + double min = 0; + double max = 0; + }; + +signals: + void axisYLabelWidthChanged(int w); + +private slots: + void signalUpdated(const cabana::Signal *sig); + void manageSignals(); + void handleMarkerClicked(); + void msgUpdated(MessageId id); + void msgRemoved(MessageId id) { removeIf([=](auto &s) { return s.msg_id == id; }); } + void signalRemoved(const cabana::Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); } + +private: + void createToolButtons(); + void addSeries(QXYSeries *series); + void mousePressEvent(QMouseEvent *event) override; + void mouseReleaseEvent(QMouseEvent *event) override; + void mouseMoveEvent(QMouseEvent *ev) override; + void dragEnterEvent(QDragEnterEvent *event) override; + void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator(false); } + void dragMoveEvent(QDragMoveEvent *event) override; + void dropEvent(QDropEvent *event) override; + void leaveEvent(QEvent *event) override; + void resizeEvent(QResizeEvent *event) override; + QSize sizeHint() const override; + void updateAxisY(); + void updateTitle(); + void resetChartCache(); + void setTheme(QChart::ChartTheme theme); + void paintEvent(QPaintEvent *event) override; + void drawForeground(QPainter *painter, const QRectF &rect) override; + void drawBackground(QPainter *painter, const QRectF &rect) override; + void drawDropIndicator(bool draw) { if (std::exchange(can_drop, draw) != can_drop) viewport()->update(); } + void drawTimeline(QPainter *painter); + std::tuple getNiceAxisNumbers(qreal min, qreal max, int tick_count); + qreal niceNumber(qreal x, bool ceiling); + QXYSeries *createSeries(SeriesType type, QColor color); + void updateSeriesPoints(); + void removeIf(std::function predicate); + inline void clearTrackPoints() { for (auto &s : sigs) s.track_pt = {}; } + + int y_label_width = 0; + int align_to = 0; + QValueAxis *axis_x; + QValueAxis *axis_y; + QAction *split_chart_act; + QGraphicsPixmapItem *move_icon; + QGraphicsProxyWidget *close_btn_proxy; + QGraphicsProxyWidget *manage_btn_proxy; + TipLabel tip_label; + QList sigs; + double cur_sec = 0; + SeriesType series_type = SeriesType::Line; + bool is_scrubbing = false; + bool resume_after_scrub = false; + QPixmap chart_pixmap; + bool can_drop = false; + double tooltip_x = -1; + QFont signal_value_font; + ChartsWidget *charts_widget; + friend class ChartsWidget; +}; diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc new file mode 100644 index 0000000000..567fceebad --- /dev/null +++ b/tools/cabana/chart/chartswidget.cc @@ -0,0 +1,530 @@ +#include "tools/cabana/chart/chartswidget.h" + +#include +#include +#include +#include +#include +#include + +#include "tools/cabana/chart/chart.h" + +const int MAX_COLUMN_COUNT = 4; +const int CHART_SPACING = 10; + +ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_timer(this), QFrame(parent) { + setFrameStyle(QFrame::StyledPanel | QFrame::Plain); + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + main_layout->setSpacing(0); + + // toolbar + QToolBar *toolbar = new QToolBar(tr("Charts"), this); + int icon_size = style()->pixelMetric(QStyle::PM_SmallIconSize); + toolbar->setIconSize({icon_size, icon_size}); + + auto new_plot_btn = new ToolButton("file-plus", tr("New Chart")); + auto new_tab_btn = new ToolButton("window-stack", tr("New Tab")); + toolbar->addWidget(new_plot_btn); + toolbar->addWidget(new_tab_btn); + toolbar->addWidget(title_label = new QLabel()); + title_label->setContentsMargins(0, 0, style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing), 0); + + QMenu *menu = new QMenu(this); + for (int i = 0; i < MAX_COLUMN_COUNT; ++i) { + menu->addAction(tr("%1").arg(i + 1), [=]() { setColumnCount(i + 1); }); + } + columns_action = toolbar->addAction(""); + columns_action->setMenu(menu); + qobject_cast(toolbar->widgetForAction(columns_action))->setPopupMode(QToolButton::InstantPopup); + + QLabel *stretch_label = new QLabel(this); + stretch_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); + toolbar->addWidget(stretch_label); + + range_lb_action = toolbar->addWidget(range_lb = new QLabel(this)); + range_slider = new LogSlider(1000, Qt::Horizontal, this); + range_slider->setMaximumWidth(200); + range_slider->setToolTip(tr("Set the chart range")); + range_slider->setRange(1, settings.max_cached_minutes * 60); + range_slider->setSingleStep(1); + range_slider->setPageStep(60); // 1 min + range_slider_action = toolbar->addWidget(range_slider); + + // zoom controls + zoom_undo_stack = new QUndoStack(this); + toolbar->addAction(undo_zoom_action = zoom_undo_stack->createUndoAction(this)); + undo_zoom_action->setIcon(utils::icon("arrow-counterclockwise")); + toolbar->addAction(redo_zoom_action = zoom_undo_stack->createRedoAction(this)); + redo_zoom_action->setIcon(utils::icon("arrow-clockwise")); + reset_zoom_action = toolbar->addWidget(reset_zoom_btn = new ToolButton("zoom-out", tr("Reset Zoom"))); + reset_zoom_btn->setToolButtonStyle(Qt::ToolButtonTextBesideIcon); + + toolbar->addWidget(remove_all_btn = new ToolButton("x-square", tr("Remove all charts"))); + toolbar->addWidget(dock_btn = new ToolButton("")); + main_layout->addWidget(toolbar); + + // tabbar + tabbar = new TabBar(this); + tabbar->setAutoHide(true); + tabbar->setExpanding(false); + tabbar->setDrawBase(true); + tabbar->setAcceptDrops(true); + tabbar->setChangeCurrentOnDrag(true); + tabbar->setUsesScrollButtons(true); + main_layout->addWidget(tabbar); + + // charts + charts_container = new ChartsContainer(this); + + charts_scroll = new QScrollArea(this); + charts_scroll->setFrameStyle(QFrame::NoFrame); + charts_scroll->setWidgetResizable(true); + charts_scroll->setWidget(charts_container); + charts_scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); + main_layout->addWidget(charts_scroll); + + // init settings + current_theme = settings.theme; + column_count = std::clamp(settings.chart_column_count, 1, MAX_COLUMN_COUNT); + max_chart_range = std::clamp(settings.chart_range, 1, settings.max_cached_minutes * 60); + display_range = {0, max_chart_range}; + range_slider->setValue(max_chart_range); + updateToolBar(); + + align_timer.setSingleShot(true); + QObject::connect(&align_timer, &QTimer::timeout, this, &ChartsWidget::alignCharts); + QObject::connect(&auto_scroll_timer, &QTimer::timeout, this, &ChartsWidget::doAutoScroll); + QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll); + QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged); + QObject::connect(can, &AbstractStream::updated, this, &ChartsWidget::updateState); + QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange); + QObject::connect(new_plot_btn, &QToolButton::clicked, this, &ChartsWidget::newChart); + QObject::connect(remove_all_btn, &QToolButton::clicked, this, &ChartsWidget::removeAll); + QObject::connect(reset_zoom_btn, &QToolButton::clicked, this, &ChartsWidget::zoomReset); + QObject::connect(&settings, &Settings::changed, this, &ChartsWidget::settingChanged); + QObject::connect(new_tab_btn, &QToolButton::clicked, this, &ChartsWidget::newTab); + QObject::connect(this, &ChartsWidget::seriesChanged, this, &ChartsWidget::updateTabBar); + QObject::connect(tabbar, &QTabBar::tabCloseRequested, this, &ChartsWidget::removeTab); + QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) { + if (index != -1) updateLayout(true); + }); + QObject::connect(dock_btn, &QToolButton::clicked, [this]() { + emit dock(!docking); + docking = !docking; + updateToolBar(); + }); + + newTab(); + setWhatsThis(tr(R"( + Chart view
+ + )")); +} + +void ChartsWidget::newTab() { + static int tab_unique_id = 0; + int idx = tabbar->addTab(""); + tabbar->setTabData(idx, tab_unique_id++); + tabbar->setCurrentIndex(idx); + updateTabBar(); +} + +void ChartsWidget::removeTab(int index) { + int id = tabbar->tabData(index).toInt(); + for (auto &c : tab_charts[id]) { + removeChart(c); + } + tab_charts.erase(id); + tabbar->removeTab(index); + updateTabBar(); +} + +void ChartsWidget::updateTabBar() { + for (int i = 0; i < tabbar->count(); ++i) { + const auto &charts_in_tab = tab_charts[tabbar->tabData(i).toInt()]; + tabbar->setTabText(i, QString("Tab %1 (%2)").arg(i + 1).arg(charts_in_tab.count())); + } +} + +void ChartsWidget::eventsMerged() { + QFutureSynchronizer future_synchronizer; + bool clear = !can->liveStreaming(); + for (auto c : charts) { + future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr, clear)); + } +} + +void ChartsWidget::setZoom(double min, double max) { + zoomed_range = {min, max}; + is_zoomed = zoomed_range != display_range; + updateToolBar(); + updateState(); + emit rangeChanged(min, max, is_zoomed); +} + +void ChartsWidget::zoomReset() { + setZoom(display_range.first, display_range.second); + zoom_undo_stack->clear(); +} + +QRect ChartsWidget::chartVisibleRect(ChartView *chart) { + const QRect visible_rect(-charts_container->pos(), charts_scroll->viewport()->size()); + return chart->rect().intersected(QRect(chart->mapFrom(charts_container, visible_rect.topLeft()), visible_rect.size())); +} + +void ChartsWidget::showValueTip(double sec) { + for (auto c : currentCharts()) { + sec >= 0 ? c->showTip(sec) : c->hideTip(); + } +} + +void ChartsWidget::updateState() { + if (charts.isEmpty()) return; + + const double cur_sec = can->currentSec(); + if (!is_zoomed) { + double pos = (cur_sec - display_range.first) / std::max(1.0, max_chart_range); + if (pos < 0 || pos > 0.8) { + display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1); + } + double max_sec = std::min(std::floor(display_range.first + max_chart_range), can->totalSeconds()); + display_range.first = std::max(0.0, max_sec - max_chart_range); + display_range.second = display_range.first + max_chart_range; + } else if (cur_sec < (zoomed_range.first - 0.1) || cur_sec >= zoomed_range.second) { + // loop in zoomed range + can->seekTo(zoomed_range.first); + } + + const auto &range = is_zoomed ? zoomed_range : display_range; + for (auto c : charts) { + c->updatePlot(cur_sec, range.first, range.second); + } +} + +void ChartsWidget::setMaxChartRange(int value) { + max_chart_range = settings.chart_range = range_slider->value(); + updateToolBar(); + updateState(); +} + +void ChartsWidget::updateToolBar() { + title_label->setText(tr("Charts: %1").arg(charts.size())); + columns_action->setText(tr("Column: %1").arg(column_count)); + range_lb->setText(utils::formatSeconds(max_chart_range)); + range_lb_action->setVisible(!is_zoomed); + range_slider_action->setVisible(!is_zoomed); + undo_zoom_action->setVisible(is_zoomed); + redo_zoom_action->setVisible(is_zoomed); + reset_zoom_action->setVisible(is_zoomed); + reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 1).arg(zoomed_range.second, 0, 'f', 1) : ""); + remove_all_btn->setEnabled(!charts.isEmpty()); + dock_btn->setIcon(docking ? "arrow-up-right-square" : "arrow-down-left-square"); + dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts")); +} + +void ChartsWidget::settingChanged() { + if (std::exchange(current_theme, settings.theme) != current_theme) { + undo_zoom_action->setIcon(utils::icon("arrow-counterclockwise")); + redo_zoom_action->setIcon(utils::icon("arrow-clockwise")); + auto theme = settings.theme == DARK_THEME ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight; + for (auto c : charts) { + c->setTheme(theme); + } + } + range_slider->setRange(1, settings.max_cached_minutes * 60); + for (auto c : charts) { + c->setFixedHeight(settings.chart_height); + c->setSeriesType((SeriesType)settings.chart_series_type); + c->resetChartCache(); + } +} + +ChartView *ChartsWidget::findChart(const MessageId &id, const cabana::Signal *sig) { + for (auto c : charts) + if (c->hasSignal(id, sig)) return c; + return nullptr; +} + +ChartView *ChartsWidget::createChart() { + auto chart = new ChartView(is_zoomed ? zoomed_range : display_range, this); + chart->setFixedHeight(settings.chart_height); + chart->setMinimumWidth(CHART_MIN_WIDTH); + chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed); + QObject::connect(chart, &ChartView::axisYLabelWidthChanged, &align_timer, qOverload<>(&QTimer::start)); + charts.push_front(chart); + currentCharts().push_front(chart); + updateLayout(true); + updateToolBar(); + return chart; +} + +void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge) { + ChartView *chart = findChart(id, sig); + if (show && !chart) { + chart = merge && currentCharts().size() > 0 ? currentCharts().front() : createChart(); + chart->addSignal(id, sig); + updateState(); + } else if (!show && chart) { + chart->removeIf([&](auto &s) { return s.msg_id == id && s.sig == sig; }); + } +} + +void ChartsWidget::splitChart(ChartView *src_chart) { + if (src_chart->sigs.size() > 1) { + for (auto it = src_chart->sigs.begin() + 1; it != src_chart->sigs.end(); /**/) { + auto c = createChart(); + src_chart->chart()->removeSeries(it->series); + c->addSeries(it->series); + c->sigs.push_back(*it); + c->updateAxisY(); + c->updateTitle(); + it = src_chart->sigs.erase(it); + } + src_chart->updateAxisY(); + src_chart->updateTitle(); + } +} + +void ChartsWidget::setColumnCount(int n) { + n = std::clamp(n, 1, MAX_COLUMN_COUNT); + if (column_count != n) { + column_count = settings.chart_column_count = n; + updateToolBar(); + updateLayout(); + } +} + +void ChartsWidget::updateLayout(bool force) { + auto charts_layout = charts_container->charts_layout; + int n = MAX_COLUMN_COUNT; + for (; n > 1; --n) { + if ((n * CHART_MIN_WIDTH + (n - 1) * charts_layout->horizontalSpacing()) < charts_layout->geometry().width()) break; + } + + bool show_column_cb = n > 1; + columns_action->setVisible(show_column_cb); + + n = std::min(column_count, n); + auto ¤t_charts = currentCharts(); + if ((current_charts.size() != charts_layout->count() || n != current_column_count) || force) { + current_column_count = n; + charts_container->setUpdatesEnabled(false); + for (auto c : charts) { + c->setVisible(false); + } + for (int i = 0; i < current_charts.size(); ++i) { + charts_layout->addWidget(current_charts[i], i / n, i % n); + if (current_charts[i]->sigs.isEmpty()) { + // the chart will be resized after add signal. delay setVisible to reduce flicker. + QTimer::singleShot(0, [c = current_charts[i]]() { c->setVisible(true); }); + } else { + current_charts[i]->setVisible(true); + } + } + charts_container->setUpdatesEnabled(true); + } +} + +void ChartsWidget::startAutoScroll() { + auto_scroll_timer.start(50); +} + +void ChartsWidget::stopAutoScroll() { + auto_scroll_timer.stop(); + auto_scroll_count = 0; +} + +void ChartsWidget::doAutoScroll() { + QScrollBar *scroll = charts_scroll->verticalScrollBar(); + if (auto_scroll_count < scroll->pageStep()) { + ++auto_scroll_count; + } + + int value = scroll->value(); + QPoint pos = charts_scroll->viewport()->mapFromGlobal(QCursor::pos()); + QRect area = charts_scroll->viewport()->rect(); + + if (pos.y() - area.top() < settings.chart_height / 2) { + scroll->setValue(value - auto_scroll_count); + } else if (area.bottom() - pos.y() < settings.chart_height / 2) { + scroll->setValue(value + auto_scroll_count); + } + bool vertical_unchanged = value == scroll->value(); + if (vertical_unchanged) { + stopAutoScroll(); + } else { + // mouseMoveEvent to updates the drag-selection rectangle + const QPoint globalPos = charts_scroll->viewport()->mapToGlobal(pos); + const QPoint windowPos = charts_scroll->window()->mapFromGlobal(globalPos); + QMouseEvent mm(QEvent::MouseMove, pos, windowPos, globalPos, + Qt::NoButton, Qt::LeftButton, Qt::NoModifier, Qt::MouseEventSynthesizedByQt); + QApplication::sendEvent(charts_scroll->viewport(), &mm); + } +} + +void ChartsWidget::resizeEvent(QResizeEvent *event) { + QWidget::resizeEvent(event); + updateLayout(); +} + +void ChartsWidget::newChart() { + SignalSelector dlg(tr("New Chart"), this); + if (dlg.exec() == QDialog::Accepted) { + auto items = dlg.seletedItems(); + if (!items.isEmpty()) { + auto c = createChart(); + for (auto it : items) { + c->addSignal(it->msg_id, it->sig); + } + } + } +} + +void ChartsWidget::removeChart(ChartView *chart) { + charts.removeOne(chart); + chart->deleteLater(); + for (auto &[_, list] : tab_charts) { + list.removeOne(chart); + } + updateToolBar(); + updateLayout(true); + alignCharts(); + emit seriesChanged(); +} + +void ChartsWidget::removeAll() { + while (tabbar->count() > 1) { + tabbar->removeTab(1); + } + tab_charts.clear(); + zoomReset(); + + if (!charts.isEmpty()) { + for (auto c : charts) { + c->deleteLater(); + } + charts.clear(); + updateToolBar(); + emit seriesChanged(); + } +} + +void ChartsWidget::alignCharts() { + int plot_left = 0; + for (auto c : charts) { + plot_left = std::max(plot_left, c->y_label_width); + } + plot_left = std::max((plot_left / 10) * 10 + 10, 50); + for (auto c : charts) { + c->updatePlotArea(plot_left); + } +} + +bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) { + if (obj != this && event->type() == QEvent::Close) { + emit dock_btn->clicked(); + return true; + } + return false; +} + +bool ChartsWidget::event(QEvent *event) { + bool back_button = false; + switch (event->type()) { + case QEvent::MouseButtonPress: { + QMouseEvent *ev = static_cast(event); + back_button = ev->button() == Qt::BackButton; + break; + } + case QEvent::NativeGesture: { + QNativeGestureEvent *ev = static_cast(event); + back_button = (ev->value() == 180); + break; + } + case QEvent::WindowActivate: + case QEvent::WindowDeactivate: + case QEvent::FocusIn: + case QEvent::FocusOut: + case QEvent::Leave: + showValueTip(-1); + break; + default: + break; + } + + if (back_button) { + zoom_undo_stack->undo(); + return true; + } + return QFrame::event(event); +} + +// ChartsContainer + +ChartsContainer::ChartsContainer(ChartsWidget *parent) : charts_widget(parent), QWidget(parent) { + setAcceptDrops(true); + QVBoxLayout *charts_main_layout = new QVBoxLayout(this); + charts_main_layout->setContentsMargins(0, 10, 0, 0); + charts_layout = new QGridLayout(); + charts_layout->setSpacing(CHART_SPACING); + charts_main_layout->addLayout(charts_layout); + charts_main_layout->addStretch(0); +} + +void ChartsContainer::dragEnterEvent(QDragEnterEvent *event) { + if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) { + event->acceptProposedAction(); + drawDropIndicator(event->pos()); + } +} + +void ChartsContainer::dropEvent(QDropEvent *event) { + if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) { + auto w = getDropAfter(event->pos()); + auto chart = qobject_cast(event->source()); + if (w != chart) { + for (auto &[_, list] : charts_widget->tab_charts) { + list.removeOne(chart); + } + int to = w ? charts_widget->currentCharts().indexOf(w) + 1 : 0; + charts_widget->currentCharts().insert(to, chart); + charts_widget->updateLayout(true); + charts_widget->updateTabBar(); + event->acceptProposedAction(); + chart->startAnimation(); + } + drawDropIndicator({}); + } +} + +void ChartsContainer::paintEvent(QPaintEvent *ev) { + if (!drop_indictor_pos.isNull() && !childAt(drop_indictor_pos)) { + QRect r; + if (auto insert_after = getDropAfter(drop_indictor_pos)) { + QRect area = insert_after->geometry(); + r = QRect(area.left(), area.bottom() + 1, area.width(), CHART_SPACING); + } else { + r = geometry(); + r.setHeight(CHART_SPACING); + } + + const int margin = (CHART_SPACING - 2) / 2; + QPainterPath path; + path.addPolygon(QPolygonF({r.topLeft(), QPointF(r.left() + CHART_SPACING, r.top() + r.height() / 2), r.bottomLeft()})); + path.addPolygon(QPolygonF({r.topRight(), QPointF(r.right() - CHART_SPACING, r.top() + r.height() / 2), r.bottomRight()})); + + QPainter p(this); + p.setRenderHint(QPainter::Antialiasing); + p.fillPath(path, palette().highlight()); + p.fillRect(r.adjusted(2, margin, -2, -margin), palette().highlight()); + } +} + +ChartView *ChartsContainer::getDropAfter(const QPoint &pos) const { + auto it = std::find_if(charts_widget->currentCharts().crbegin(), charts_widget->currentCharts().crend(), [&pos](auto c) { + auto area = c->geometry(); + return pos.x() >= area.left() && pos.x() <= area.right() && pos.y() >= area.bottom(); + }); + return it == charts_widget->currentCharts().crend() ? nullptr : *it; +} diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h new file mode 100644 index 0000000000..0d9f79062a --- /dev/null +++ b/tools/cabana/chart/chartswidget.h @@ -0,0 +1,126 @@ +#pragma once + +#include +#include +#include +#include +#include +#include + +#include "tools/cabana/chart/signalselector.h" +#include "tools/cabana/dbc/dbcmanager.h" +#include "tools/cabana/streams/abstractstream.h" + +const int CHART_MIN_WIDTH = 300; +const QString CHART_MIME_TYPE = "application/x-cabanachartview"; + +class ChartView; +class ChartsWidget; + +class ChartsContainer : public QWidget { +public: + ChartsContainer(ChartsWidget *parent); + void dragEnterEvent(QDragEnterEvent *event) override; + void dropEvent(QDropEvent *event) override; + void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator({}); } + void drawDropIndicator(const QPoint &pt) { drop_indictor_pos = pt; update(); } + void paintEvent(QPaintEvent *ev) override; + ChartView *getDropAfter(const QPoint &pos) const; + + QGridLayout *charts_layout; + ChartsWidget *charts_widget; + QPoint drop_indictor_pos; +}; + +class ChartsWidget : public QFrame { + Q_OBJECT + +public: + ChartsWidget(QWidget *parent = nullptr); + void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge); + inline bool hasSignal(const MessageId &id, const cabana::Signal *sig) { return findChart(id, sig) != nullptr; } + +public slots: + void setColumnCount(int n); + void removeAll(); + void setZoom(double min, double max); + +signals: + void dock(bool floating); + void rangeChanged(double min, double max, bool is_zommed); + void seriesChanged(); + +private: + void resizeEvent(QResizeEvent *event) override; + bool event(QEvent *event) override; + void alignCharts(); + void newChart(); + ChartView *createChart(); + void removeChart(ChartView *chart); + void splitChart(ChartView *chart); + QRect chartVisibleRect(ChartView *chart); + void eventsMerged(); + void updateState(); + void zoomReset(); + void startAutoScroll(); + void stopAutoScroll(); + void doAutoScroll(); + void updateToolBar(); + void updateTabBar(); + void setMaxChartRange(int value); + void updateLayout(bool force = false); + void settingChanged(); + void showValueTip(double sec); + bool eventFilter(QObject *obj, QEvent *event) override; + void newTab(); + void removeTab(int index); + inline QList ¤tCharts() { return tab_charts[tabbar->tabData(tabbar->currentIndex()).toInt()]; } + ChartView *findChart(const MessageId &id, const cabana::Signal *sig); + + QLabel *title_label; + QLabel *range_lb; + LogSlider *range_slider; + QAction *range_lb_action; + QAction *range_slider_action; + bool docking = true; + ToolButton *dock_btn; + + QAction *undo_zoom_action; + QAction *redo_zoom_action; + QAction *reset_zoom_action; + ToolButton *reset_zoom_btn; + QUndoStack *zoom_undo_stack; + + ToolButton *remove_all_btn; + QList charts; + std::unordered_map> tab_charts; + TabBar *tabbar; + ChartsContainer *charts_container; + QScrollArea *charts_scroll; + uint32_t max_chart_range = 0; + bool is_zoomed = false; + std::pair display_range; + std::pair zoomed_range; + QAction *columns_action; + int column_count = 1; + int current_column_count = 0; + int auto_scroll_count = 0; + QTimer auto_scroll_timer; + QTimer align_timer; + int current_theme = 0; + friend class ZoomCommand; + friend class ChartView; + friend class ChartsContainer; +}; + +class ZoomCommand : public QUndoCommand { +public: + ZoomCommand(ChartsWidget *charts, std::pair range) : charts(charts), range(range), QUndoCommand() { + prev_range = charts->is_zoomed ? charts->zoomed_range : charts->display_range; + setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 1).arg(range.second, 0, 'f', 1)); + } + void undo() override { charts->setZoom(prev_range.first, prev_range.second); } + void redo() override { charts->setZoom(range.first, range.second); } + ChartsWidget *charts; + std::pair prev_range, range; +}; diff --git a/tools/cabana/chart/signalselector.cc b/tools/cabana/chart/signalselector.cc new file mode 100644 index 0000000000..1aa8fc5016 --- /dev/null +++ b/tools/cabana/chart/signalselector.cc @@ -0,0 +1,108 @@ +#include "tools/cabana/chart/signalselector.h" + +#include +#include +#include +#include +#include +#include +#include + +#include "tools/cabana/streams/abstractstream.h" + +SignalSelector::SignalSelector(QString title, QWidget *parent) : QDialog(parent) { + setWindowTitle(title); + QGridLayout *main_layout = new QGridLayout(this); + + // left column + main_layout->addWidget(new QLabel(tr("Available Signals")), 0, 0); + main_layout->addWidget(msgs_combo = new QComboBox(this), 1, 0); + msgs_combo->setEditable(true); + msgs_combo->lineEdit()->setPlaceholderText(tr("Select a msg...")); + msgs_combo->setInsertPolicy(QComboBox::NoInsert); + msgs_combo->completer()->setCompletionMode(QCompleter::PopupCompletion); + msgs_combo->completer()->setFilterMode(Qt::MatchContains); + + main_layout->addWidget(available_list = new QListWidget(this), 2, 0); + + // buttons + QVBoxLayout *btn_layout = new QVBoxLayout(); + QPushButton *add_btn = new QPushButton(utils::icon("chevron-right"), "", this); + add_btn->setEnabled(false); + QPushButton *remove_btn = new QPushButton(utils::icon("chevron-left"), "", this); + remove_btn->setEnabled(false); + btn_layout->addStretch(0); + btn_layout->addWidget(add_btn); + btn_layout->addWidget(remove_btn); + btn_layout->addStretch(0); + main_layout->addLayout(btn_layout, 0, 1, 3, 1); + + // right column + main_layout->addWidget(new QLabel(tr("Selected Signals")), 0, 2); + main_layout->addWidget(selected_list = new QListWidget(this), 1, 2, 2, 1); + + auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); + main_layout->addWidget(buttonBox, 3, 2); + + for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) { + if (auto m = dbc()->msg(it.key())) { + msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(it.key().toString()), QVariant::fromValue(it.key())); + } + } + msgs_combo->model()->sort(0); + msgs_combo->setCurrentIndex(-1); + + QObject::connect(msgs_combo, qOverload(&QComboBox::currentIndexChanged), this, &SignalSelector::updateAvailableList); + QObject::connect(available_list, &QListWidget::currentRowChanged, [=](int row) { add_btn->setEnabled(row != -1); }); + QObject::connect(selected_list, &QListWidget::currentRowChanged, [=](int row) { remove_btn->setEnabled(row != -1); }); + QObject::connect(available_list, &QListWidget::itemDoubleClicked, this, &SignalSelector::add); + QObject::connect(selected_list, &QListWidget::itemDoubleClicked, this, &SignalSelector::remove); + QObject::connect(add_btn, &QPushButton::clicked, [this]() { if (auto item = available_list->currentItem()) add(item); }); + QObject::connect(remove_btn, &QPushButton::clicked, [this]() { if (auto item = selected_list->currentItem()) remove(item); }); + QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); + QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); +} + +void SignalSelector::add(QListWidgetItem *item) { + auto it = (ListItem *)item; + addItemToList(selected_list, it->msg_id, it->sig, true); + delete item; +} + +void SignalSelector::remove(QListWidgetItem *item) { + auto it = (ListItem *)item; + if (it->msg_id == msgs_combo->currentData().value()) { + addItemToList(available_list, it->msg_id, it->sig); + } + delete item; +} + +void SignalSelector::updateAvailableList(int index) { + if (index == -1) return; + available_list->clear(); + MessageId msg_id = msgs_combo->itemData(index).value(); + auto selected_items = seletedItems(); + for (auto s : dbc()->msg(msg_id)->getSignals()) { + bool is_selected = std::any_of(selected_items.begin(), selected_items.end(), [=, sig = s](auto it) { return it->msg_id == msg_id && it->sig == sig; }); + if (!is_selected) { + addItemToList(available_list, msg_id, s); + } + } +} + +void SignalSelector::addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name) { + QString text = QString("■ %1").arg(getColor(sig).name(), sig->name); + if (show_msg_name) text += QString(" %0 %1").arg(msgName(id), id.toString()); + + QLabel *label = new QLabel(text); + label->setContentsMargins(5, 0, 5, 0); + auto new_item = new ListItem(id, sig, parent); + new_item->setSizeHint(label->sizeHint()); + parent->setItemWidget(new_item, label); +} + +QList SignalSelector::seletedItems() { + QList ret; + for (int i = 0; i < selected_list->count(); ++i) ret.push_back((ListItem *)selected_list->item(i)); + return ret; +} diff --git a/tools/cabana/chart/signalselector.h b/tools/cabana/chart/signalselector.h new file mode 100644 index 0000000000..f46779f044 --- /dev/null +++ b/tools/cabana/chart/signalselector.h @@ -0,0 +1,30 @@ +#pragma once + +#include +#include +#include + +#include "tools/cabana/dbc/dbcmanager.h" + +class SignalSelector : public QDialog { +public: + struct ListItem : public QListWidgetItem { + ListItem(const MessageId &msg_id, const cabana::Signal *sig, QListWidget *parent) : msg_id(msg_id), sig(sig), QListWidgetItem(parent) {} + MessageId msg_id; + const cabana::Signal *sig; + }; + + SignalSelector(QString title, QWidget *parent); + QList seletedItems(); + inline void addSelected(const MessageId &id, const cabana::Signal *sig) { addItemToList(selected_list, id, sig, true); } + +private: + void updateAvailableList(int index); + void addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name = false); + void add(QListWidgetItem *item); + void remove(QListWidgetItem *item); + + QComboBox *msgs_combo; + QListWidget *available_list; + QListWidget *selected_list; +}; diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc new file mode 100644 index 0000000000..6d7b35f3a9 --- /dev/null +++ b/tools/cabana/chart/sparkline.cc @@ -0,0 +1,74 @@ +#include "tools/cabana/chart/sparkline.h" + +#include + +#include "tools/cabana/streams/abstractstream.h" + +void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size) { + const auto &msgs = can->events(msg_id); + uint64_t ts = (last_msg_ts + can->routeStartTime()) * 1e9; + uint64_t first_ts = (ts > range * 1e9) ? ts - range * 1e9 : 0; + auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), first_ts, [](auto e, uint64_t ts) { + return e->mono_time < ts; + }); + auto last = std::upper_bound(first, msgs.cend(), ts, [](uint64_t ts, auto e) { + return ts < e->mono_time; + }); + + bool update_values = last_ts != last_msg_ts || time_range != range; + last_ts = last_msg_ts; + time_range = range; + + if (first != last) { + if (update_values) { + values.clear(); + values.reserve(std::distance(first, last)); + min_val = std::numeric_limits::max(); + max_val = std::numeric_limits::lowest(); + for (auto it = first; it != last; ++it) { + const CanEvent *e = *it; + double value = get_raw_value(e->dat, e->size, *sig); + values.emplace_back((e->mono_time - (*first)->mono_time) / 1e9, value); + if (min_val > value) min_val = value; + if (max_val < value) max_val = value; + } + if (min_val == max_val) { + min_val -= 1; + max_val += 1; + } + } + render(getColor(sig), size); + } else { + pixmap = QPixmap(); + min_val = -1; + max_val = 1; + } +} + +void Sparkline::render(const QColor &color, QSize size) { + const double xscale = (size.width() - 1) / (double)time_range; + const double yscale = (size.height() - 3) / (max_val - min_val); + points.clear(); + points.reserve(values.size()); + for (auto &v : values) { + points.emplace_back(v.x() * xscale, 1 + std::abs(v.y() - max_val) * yscale); + } + + qreal dpr = qApp->devicePixelRatio(); + size *= dpr; + if (size != pixmap.size()) { + pixmap = QPixmap(size); + } + pixmap.setDevicePixelRatio(dpr); + pixmap.fill(Qt::transparent); + QPainter painter(&pixmap); + painter.setRenderHint(QPainter::Antialiasing, points.size() < 500); + painter.setPen(color); + painter.drawPolyline(points.data(), points.size()); + painter.setPen(QPen(color, 3)); + if ((points.back().x() - points.front().x()) / points.size() > 8) { + painter.drawPoints(points.data(), points.size()); + } else { + painter.drawPoint(points.back()); + } +} diff --git a/tools/cabana/chart/sparkline.h b/tools/cabana/chart/sparkline.h new file mode 100644 index 0000000000..69d4f4bc55 --- /dev/null +++ b/tools/cabana/chart/sparkline.h @@ -0,0 +1,24 @@ +#pragma once + +#include +#include +#include + +#include "tools/cabana/dbc/dbcmanager.h" + +class Sparkline { +public: + void update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size); + const QSize size() const { return pixmap.size() / pixmap.devicePixelRatio(); } + + QPixmap pixmap; + double min_val = 0; + double max_val = 0; + double last_ts = 0; + int time_range = 0; + +private: + void render(const QColor &color, QSize size); + std::vector values; + std::vector points; +}; diff --git a/tools/cabana/chart/tiplabel.cc b/tools/cabana/chart/tiplabel.cc new file mode 100644 index 0000000000..f34d7e8dfe --- /dev/null +++ b/tools/cabana/chart/tiplabel.cc @@ -0,0 +1,53 @@ +#include "tools/cabana/chart/tiplabel.h" + +#include +#include +#include + +#include "tools/cabana/settings.h" + +TipLabel::TipLabel(QWidget *parent) : QLabel(parent, Qt::ToolTip | Qt::FramelessWindowHint) { + setForegroundRole(QPalette::ToolTipText); + setBackgroundRole(QPalette::ToolTipBase); + QFont font; + font.setPointSizeF(8.34563465); + setFont(font); + auto palette = QToolTip::palette(); + if (settings.theme != DARK_THEME) { + palette.setColor(QPalette::ToolTipBase, QApplication::palette().color(QPalette::Base)); + palette.setColor(QPalette::ToolTipText, QRgb(0x404044)); // same color as chart label brush + } + setPalette(palette); + ensurePolished(); + setMargin(1 + style()->pixelMetric(QStyle::PM_ToolTipLabelFrameWidth, nullptr, this)); + setAttribute(Qt::WA_ShowWithoutActivating); + setTextFormat(Qt::RichText); + setVisible(false); +} + +void TipLabel::showText(const QPoint &pt, const QString &text, QWidget *w, const QRect &rect) { + setText(text); + if (!text.isEmpty()) { + QSize extra(1, 1); + resize(sizeHint() + extra); + QPoint tip_pos(pt.x() + 8, rect.top() + 2); + if (tip_pos.x() + size().width() >= rect.right()) { + tip_pos.rx() = pt.x() - size().width() - 8; + } + if (rect.contains({tip_pos, size()})) { + move(w->mapToGlobal(tip_pos)); + setVisible(true); + return; + } + } + setVisible(false); +} + +void TipLabel::paintEvent(QPaintEvent *ev) { + QStylePainter p(this); + QStyleOptionFrame opt; + opt.init(this); + p.drawPrimitive(QStyle::PE_PanelTipLabel, opt); + p.end(); + QLabel::paintEvent(ev); +} diff --git a/tools/cabana/chart/tiplabel.h b/tools/cabana/chart/tiplabel.h new file mode 100644 index 0000000000..ac6e09e976 --- /dev/null +++ b/tools/cabana/chart/tiplabel.h @@ -0,0 +1,10 @@ +#pragma once + +#include + +class TipLabel : public QLabel { +public: + TipLabel(QWidget *parent = nullptr); + void showText(const QPoint &pt, const QString &sec, QWidget *w, const QRect &rect); + void paintEvent(QPaintEvent *ev) override; +}; diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc deleted file mode 100644 index 9c5ed097c6..0000000000 --- a/tools/cabana/chartswidget.cc +++ /dev/null @@ -1,913 +0,0 @@ -#include "tools/cabana/chartswidget.h" - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -const int MAX_COLUMN_COUNT = 4; -// ChartsWidget - -ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - - // toolbar - QToolBar *toolbar = new QToolBar(tr("Charts"), this); - toolbar->setIconSize({16, 16}); - - QAction *new_plot_btn = toolbar->addAction(utils::icon("file-plus"), tr("New Plot")); - toolbar->addWidget(title_label = new QLabel()); - title_label->setContentsMargins(0, 0, 12, 0); - - QMenu *menu = new QMenu(this); - for (int i = 0; i < MAX_COLUMN_COUNT; ++i) { - menu->addAction(tr("%1").arg(i + 1), [=]() { setColumnCount(i + 1); }); - } - columns_action = toolbar->addAction(""); - columns_action->setMenu(menu); - qobject_cast(toolbar->widgetForAction(columns_action))->setPopupMode(QToolButton::InstantPopup); - - QLabel *stretch_label = new QLabel(this); - stretch_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); - toolbar->addWidget(stretch_label); - - range_lb_action = toolbar->addWidget(range_lb = new QLabel(this)); - range_slider = new QSlider(Qt::Horizontal, this); - range_slider->setToolTip(tr("Set the chart range")); - range_slider->setRange(1, settings.max_cached_minutes * 60); - range_slider->setSingleStep(1); - range_slider->setPageStep(60); // 1 min - range_slider_action = toolbar->addWidget(range_slider); - - reset_zoom_action = toolbar->addAction(utils::icon("zoom-out"), tr("Reset Zoom")); - qobject_cast(toolbar->widgetForAction(reset_zoom_action))->setToolButtonStyle(Qt::ToolButtonTextBesideIcon); - - remove_all_btn = toolbar->addAction(utils::icon("x"), tr("Remove all charts")); - dock_btn = toolbar->addAction(""); - main_layout->addWidget(toolbar); - - // charts - charts_layout = new QGridLayout(); - charts_layout->setSpacing(10); - - QWidget *charts_container = new QWidget(this); - QVBoxLayout *charts_main_layout = new QVBoxLayout(charts_container); - charts_main_layout->setContentsMargins(0, 0, 0, 0); - charts_main_layout->addLayout(charts_layout); - charts_main_layout->addStretch(0); - - QScrollArea *charts_scroll = new QScrollArea(this); - charts_scroll->setWidgetResizable(true); - charts_scroll->setWidget(charts_container); - charts_scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - main_layout->addWidget(charts_scroll); - - // init settings - use_dark_theme = QApplication::style()->standardPalette().color(QPalette::WindowText).value() > - QApplication::style()->standardPalette().color(QPalette::Background).value(); - column_count = std::clamp(settings.chart_column_count, 1, MAX_COLUMN_COUNT); - max_chart_range = std::clamp(settings.chart_range, 1, settings.max_cached_minutes * 60); - display_range = {0, max_chart_range}; - range_slider->setValue(max_chart_range); - updateToolBar(); - - QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll); - QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged); - QObject::connect(can, &AbstractStream::updated, this, &ChartsWidget::updateState); - QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange); - QObject::connect(new_plot_btn, &QAction::triggered, this, &ChartsWidget::newChart); - QObject::connect(remove_all_btn, &QAction::triggered, this, &ChartsWidget::removeAll); - QObject::connect(reset_zoom_action, &QAction::triggered, this, &ChartsWidget::zoomReset); - QObject::connect(&settings, &Settings::changed, this, &ChartsWidget::settingChanged); - QObject::connect(dock_btn, &QAction::triggered, [this]() { - emit dock(!docking); - docking = !docking; - updateToolBar(); - }); - - setWhatsThis(tr(R"( - Chart view
- - )")); -} - -void ChartsWidget::eventsMerged() { - { - assert(!can->liveStreaming()); - QFutureSynchronizer future_synchronizer; - const auto events = can->events(); - for (auto c : charts) { - future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr, events, true)); - } - } - updateState(); -} - -void ChartsWidget::zoomIn(double min, double max) { - zoomed_range = {min, max}; - is_zoomed = zoomed_range != display_range; - updateToolBar(); - updateState(); - emit rangeChanged(min, max, is_zoomed); -} - -void ChartsWidget::zoomReset() { - zoomIn(display_range.first, display_range.second); -} - -void ChartsWidget::updateState() { - if (charts.isEmpty()) return; - - const auto events = can->events(); - if (can->liveStreaming()) { - // appends incoming events to the end of series - for (auto c : charts) { - c->updateSeries(nullptr, events, false); - } - } - - const double cur_sec = can->currentSec(); - if (!is_zoomed) { - double pos = (cur_sec - display_range.first) / std::max(1.0, (display_range.second - display_range.first)); - if (pos < 0 || pos > 0.8) { - display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1); - } - double max_event_sec = events->empty() ? 0 : (events->back()->mono_time / 1e9 - can->routeStartTime()); - double max_sec = std::min(std::floor(display_range.first + max_chart_range), max_event_sec); - display_range.first = std::max(0.0, max_sec - max_chart_range); - display_range.second = display_range.first + max_chart_range; - } else if (cur_sec < zoomed_range.first || cur_sec >= zoomed_range.second) { - // loop in zoommed range - can->seekTo(zoomed_range.first); - } - - charts_layout->parentWidget()->setUpdatesEnabled(false); - const auto &range = is_zoomed ? zoomed_range : display_range; - for (auto c : charts) { - c->updatePlot(cur_sec, range.first, range.second); - } - charts_layout->parentWidget()->setUpdatesEnabled(true); -} - -void ChartsWidget::setMaxChartRange(int value) { - max_chart_range = settings.chart_range = value; - updateToolBar(); - updateState(); -} - -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_action->setVisible(!is_zoomed); - range_slider_action->setVisible(!is_zoomed); - reset_zoom_action->setVisible(is_zoomed); - reset_zoom_action->setText(is_zoomed ? tr("Zoomin: %1-%2").arg(zoomed_range.first, 0, 'f', 1).arg(zoomed_range.second, 0, 'f', 1) : ""); - remove_all_btn->setEnabled(!charts.isEmpty()); - dock_btn->setIcon(utils::icon(docking ? "arrow-up-right-square" : "arrow-down-left-square")); - dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts")); -} - -void ChartsWidget::settingChanged() { - range_slider->setRange(1, settings.max_cached_minutes * 60); - for (auto c : charts) { - c->setFixedHeight(settings.chart_height); - c->setSeriesType(settings.chart_series_type == 0 ? QAbstractSeries::SeriesTypeLine : QAbstractSeries::SeriesTypeScatter); - } -} - -ChartView *ChartsWidget::findChart(const MessageId &id, const Signal *sig) { - for (auto c : charts) - if (c->hasSeries(id, sig)) return c; - return nullptr; -} - -ChartView *ChartsWidget::createChart() { - auto chart = new ChartView(this); - chart->setFixedHeight(settings.chart_height); - chart->setMinimumWidth(CHART_MIN_WIDTH); - chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed); - chart->chart()->setTheme(use_dark_theme ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight); - QObject::connect(chart, &ChartView::remove, [=]() { removeChart(chart); }); - QObject::connect(chart, &ChartView::zoomIn, this, &ChartsWidget::zoomIn); - QObject::connect(chart, &ChartView::zoomReset, this, &ChartsWidget::zoomReset); - QObject::connect(chart, &ChartView::seriesRemoved, this, &ChartsWidget::seriesChanged); - QObject::connect(chart, &ChartView::seriesAdded, this, &ChartsWidget::seriesChanged); - QObject::connect(chart, &ChartView::axisYLabelWidthChanged, this, &ChartsWidget::alignCharts); - charts.push_back(chart); - updateLayout(); - return chart; -} - -void ChartsWidget::showChart(const MessageId &id, const Signal *sig, bool show, bool merge) { - setUpdatesEnabled(false); - ChartView *chart = findChart(id, sig); - if (show && !chart) { - chart = merge && charts.size() > 0 ? charts.back() : createChart(); - chart->addSeries(id, sig); - updateState(); - } else if (!show && chart) { - chart->removeIf([&](auto &s) { return s.msg_id == id && s.sig == sig; }); - } - updateToolBar(); - setUpdatesEnabled(true); -} - -void ChartsWidget::setColumnCount(int n) { - n = std::clamp(n, 1, MAX_COLUMN_COUNT); - if (column_count != n) { - column_count = settings.chart_column_count = n; - updateToolBar(); - updateLayout(); - } -} - -void ChartsWidget::updateLayout() { - int n = MAX_COLUMN_COUNT; - for (; n > 1; --n) { - if ((n * CHART_MIN_WIDTH + (n - 1) * charts_layout->spacing()) < charts_layout->geometry().width()) break; - } - - bool show_column_cb = n > 1; - columns_action->setVisible(show_column_cb); - - n = std::min(column_count, n); - if (charts.size() != charts_layout->count() || n != current_column_count) { - current_column_count = n; - charts_layout->parentWidget()->setUpdatesEnabled(false); - for (int i = 0; i < charts.size(); ++i) { - charts_layout->addWidget(charts[charts.size() - i - 1], i / n, i % n); - } - QTimer::singleShot(0, [this]() { charts_layout->parentWidget()->setUpdatesEnabled(true); }); - } -} - -void ChartsWidget::resizeEvent(QResizeEvent *event) { - QWidget::resizeEvent(event); - updateLayout(); -} - -void ChartsWidget::newChart() { - SeriesSelector dlg(tr("New Chart"), this); - if (dlg.exec() == QDialog::Accepted) { - auto items = dlg.seletedItems(); - if (!items.isEmpty()) { - auto c = createChart(); - for (auto it : items) { - c->addSeries(it->msg_id, it->sig); - } - } - } -} - -void ChartsWidget::removeChart(ChartView *chart) { - charts.removeOne(chart); - chart->deleteLater(); - updateToolBar(); - alignCharts(); - updateLayout(); - emit seriesChanged(); -} - -void ChartsWidget::removeAll() { - for (auto c : charts) { - c->deleteLater(); - } - charts.clear(); - updateToolBar(); - emit seriesChanged(); -} - -void ChartsWidget::alignCharts() { - int plot_left = 0; - for (auto c : charts) { - plot_left = std::max(plot_left, c->y_label_width); - } - plot_left = std::max((plot_left / 10) * 10 + 10, 50); - for (auto c : charts) { - c->updatePlotArea(plot_left); - } -} - -bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) { - if (obj != this && event->type() == QEvent::Close) { - emit dock_btn->triggered(); - return true; - } - return false; -} - -// ChartView - -ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { - series_type = settings.chart_series_type == 0 ? QAbstractSeries::SeriesTypeLine : QAbstractSeries::SeriesTypeScatter; - QChart *chart = new QChart(); - chart->setBackgroundVisible(false); - axis_x = new QValueAxis(this); - axis_y = new QValueAxis(this); - chart->addAxis(axis_x, Qt::AlignBottom); - chart->addAxis(axis_y, Qt::AlignLeft); - chart->legend()->layout()->setContentsMargins(16, 0, 40, 0); - chart->legend()->setShowToolTips(true); - chart->setMargins({0, 0, 0, 0}); - - background = new QGraphicsRectItem(chart); - background->setBrush(Qt::white); - background->setPen(Qt::NoPen); - background->setZValue(chart->zValue() - 1); - - move_icon = new QGraphicsPixmapItem(utils::icon("grip-horizontal"), chart); - move_icon->setToolTip(tr("Drag and drop to combine charts")); - - QToolButton *remove_btn = new QToolButton(); - remove_btn->setIcon(utils::icon("x")); - remove_btn->setAutoRaise(true); - remove_btn->setToolTip(tr("Remove Chart")); - close_btn_proxy = new QGraphicsProxyWidget(chart); - close_btn_proxy->setWidget(remove_btn); - close_btn_proxy->setZValue(chart->zValue() + 11); - - QToolButton *manage_btn = new QToolButton(); - manage_btn->setToolButtonStyle(Qt::ToolButtonIconOnly); - manage_btn->setIcon(utils::icon("list")); - manage_btn->setAutoRaise(true); - QMenu *menu = new QMenu(this); - line_series_action = menu->addAction(tr("Line"), [this]() { setSeriesType(QAbstractSeries::SeriesTypeLine); }); - line_series_action->setCheckable(true); - line_series_action->setChecked(series_type == QAbstractSeries::SeriesTypeLine); - scatter_series_action = menu->addAction(tr("Scatter"), [this]() { setSeriesType(QAbstractSeries::SeriesTypeScatter); }); - scatter_series_action->setCheckable(true); - scatter_series_action->setChecked(series_type == QAbstractSeries::SeriesTypeScatter); - menu->addSeparator(); - menu->addAction(tr("Manage series"), this, &ChartView::manageSeries); - manage_btn->setMenu(menu); - manage_btn->setPopupMode(QToolButton::InstantPopup); - manage_btn_proxy = new QGraphicsProxyWidget(chart); - manage_btn_proxy->setWidget(manage_btn); - manage_btn_proxy->setZValue(chart->zValue() + 11); - - setChart(chart); - setRenderHint(QPainter::Antialiasing); - // TODO: enable zoomIn/seekTo in live streaming mode. - setRubberBand(can->liveStreaming() ? QChartView::NoRubberBand : QChartView::HorizontalRubberBand); - - QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartView::signalRemoved); - QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated); - QObject::connect(dbc(), &DBCManager::msgRemoved, this, &ChartView::msgRemoved); - QObject::connect(dbc(), &DBCManager::msgUpdated, this, &ChartView::msgUpdated); - QObject::connect(remove_btn, &QToolButton::clicked, this, &ChartView::remove); -} - -void ChartView::addSeries(const MessageId &msg_id, const Signal *sig) { - if (hasSeries(msg_id, sig)) return; - - QXYSeries *series = createSeries(series_type, getColor(sig)); - sigs.push_back({.msg_id = msg_id, .sig = sig, .series = series}); - updateTitle(); - updateSeries(sig); - updateSeriesPoints(); - emit seriesAdded(msg_id, sig); -} - -bool ChartView::hasSeries(const MessageId &msg_id, const Signal *sig) const { - return std::any_of(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; }); -} - -void ChartView::removeIf(std::function predicate) { - int prev_size = sigs.size(); - for (auto it = sigs.begin(); it != sigs.end(); /**/) { - if (predicate(*it)) { - chart()->removeSeries(it->series); - it->series->deleteLater(); - auto msg_id = it->msg_id; - auto sig = it->sig; - it = sigs.erase(it); - emit seriesRemoved(msg_id, sig); - } else { - ++it; - } - } - if (sigs.empty()) { - emit remove(); - } else if (sigs.size() != prev_size) { - updateAxisY(); - } -} - -void ChartView::signalUpdated(const Signal *sig) { - if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.sig == sig; })) { - updateTitle(); - // TODO: don't update series if only name changed. - updateSeries(sig); - } -} - -void ChartView::msgUpdated(uint32_t address) { - if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.msg_id.address == address; })) - updateTitle(); -} - -void ChartView::manageSeries() { - SeriesSelector dlg(tr("Mange Chart"), this); - for (auto &s : sigs) { - dlg.addSelected(s.msg_id, s.sig); - } - if (dlg.exec() == QDialog::Accepted) { - auto items = dlg.seletedItems(); - for (auto s : items) { - addSeries(s->msg_id, s->sig); - } - removeIf([&](auto &s) { - return std::none_of(items.cbegin(), items.cend(), [&](auto &it) { return s.msg_id == it->msg_id && s.sig == it->sig; }); - }); - } -} - -void ChartView::resizeEvent(QResizeEvent *event) { - QChartView::resizeEvent(event); - updatePlotArea(align_to); - int x = event->size().width() - close_btn_proxy->size().width() - 11; - close_btn_proxy->setPos(x, 8); - manage_btn_proxy->setPos(x - manage_btn_proxy->size().width() - 5, 8); - move_icon->setPos(11, 8); -} - -void ChartView::updatePlotArea(int left) { - QRect r = rect(); - if (align_to != left || r != background->rect()) { - align_to = left; - background->setRect(r); - chart()->legend()->setGeometry(QRect(r.left(), r.top(), r.width(), 45)); - chart()->setPlotArea(QRect(align_to, r.top() + 45, r.width() - align_to - 22, r.height() - 80)); - chart()->layout()->invalidate(); - } -} - -void ChartView::updateTitle() { - for (QLegendMarker *marker : chart()->legend()->markers()) { - QObject::connect(marker, &QLegendMarker::clicked, this, &ChartView::handleMarkerClicked, Qt::UniqueConnection); - } - for (auto &s : sigs) { - auto decoration = s.series->isVisible() ? "none" : "line-through"; - s.series->setName(QString("%2 %3 %4").arg(decoration, s.sig->name.c_str(), msgName(s.msg_id), s.msg_id.toString())); - } -} - -void ChartView::updatePlot(double cur, double min, double max) { - cur_sec = cur; - if (min != axis_x->min() || max != axis_x->max()) { - axis_x->setRange(min, max); - updateAxisY(); - updateSeriesPoints(); - } - - scene()->invalidate({}, QGraphicsScene::ForegroundLayer); -} - -void ChartView::updateSeriesPoints() { - // Show points when zoomed in enough - for (auto &s : sigs) { - auto begin = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; }); - auto end = std::lower_bound(begin, s.vals.end(), axis_x->max(), [](auto &p, double x) { return p.x() < x; }); - - int num_points = std::max(end - begin, 1); - int pixels_per_point = width() / num_points; - - if (series_type == QAbstractSeries::SeriesTypeScatter) { - ((QScatterSeries *)s.series)->setMarkerSize(std::clamp(pixels_per_point / 3, 2, 8)); - } else { - s.series->setPointsVisible(pixels_per_point > 20); - } - } -} - -void ChartView::updateSeries(const Signal *sig, const std::vector *events, bool clear) { - events = events ? events : can->events(); - for (auto &s : sigs) { - if (!sig || s.sig == sig) { - if (clear) { - s.vals.clear(); - s.vals.reserve(settings.max_cached_minutes * 60 * 100); // [n]seconds * 100hz - s.last_value_mono_time = 0; - } - s.series->setColor(getColor(s.sig)); - - struct Chunk { - std::vector::const_iterator first, second; - QVector vals; - }; - // split into one minitue chunks - QVector chunks; - Event begin_event(cereal::Event::Which::INIT_DATA, s.last_value_mono_time); - auto begin = std::upper_bound(events->begin(), events->end(), &begin_event, Event::lessThan()); - for (auto it = begin, second = begin; it != events->end(); it = second) { - second = std::lower_bound(it, events->end(), (*it)->mono_time + 1e9 * 60, [](auto &e, uint64_t ts) { return e->mono_time < ts; }); - chunks.push_back({it, second}); - } - - QtConcurrent::blockingMap(chunks, [&](Chunk &chunk) { - chunk.vals.reserve(60 * 100); // 100 hz - double route_start_time = can->routeStartTime(); - for (auto it = chunk.first; it != chunk.second; ++it) { - if ((*it)->which == cereal::Event::Which::CAN) { - for (const auto &c : (*it)->event.getCan()) { - if (s.msg_id.address == c.getAddress() && s.msg_id.source == c.getSrc()) { - auto dat = c.getDat(); - double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *s.sig); - double ts = ((*it)->mono_time / (double)1e9) - route_start_time; // seconds - chunk.vals.push_back({ts, value}); - } - } - } - } - }); - for (auto &c : chunks) { - s.vals.append(c.vals); - } - if (events->size()) { - s.last_value_mono_time = events->back()->mono_time; - } - s.series->replace(s.vals); - } - } - updateAxisY(); -} - -// auto zoom on yaxis -void ChartView::updateAxisY() { - if (sigs.isEmpty()) return; - - double min = std::numeric_limits::max(); - double max = std::numeric_limits::lowest(); - for (auto &s : sigs) { - if (!s.series->isVisible()) continue; - - auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; }); - auto last = std::lower_bound(first, s.vals.end(), axis_x->max(), [](auto &p, double x) { return p.x() < x; }); - for (auto it = first; it != last; ++it) { - if (it->y() < min) min = it->y(); - if (it->y() > max) max = it->y(); - } - } - if (min == std::numeric_limits::max()) min = 0; - if (max == std::numeric_limits::lowest()) max = 0; - - double delta = std::abs(max - min) < 1e-3 ? 1 : (max - min) * 0.05; - auto [min_y, max_y, tick_count] = getNiceAxisNumbers(min - delta, max + delta, axis_y->tickCount()); - if (min_y != axis_y->min() || max_y != axis_y->max() || y_label_width == 0) { - axis_y->setRange(min_y, max_y); - axis_y->setTickCount(tick_count); - - QFontMetrics fm(axis_y->labelsFont()); - int n = qMax(int(-qFloor(std::log10((max_y - min_y) / (tick_count - 1)))), 0) + 1; - y_label_width = qMax(fm.width(QString::number(min_y, 'f', n)), fm.width(QString::number(max_y, 'f', n))) + 20; // left margin 20 - emit axisYLabelWidthChanged(y_label_width); - } -} - -std::tuple ChartView::getNiceAxisNumbers(qreal min, qreal max, int tick_count) { - qreal range = niceNumber((max - min), true); // range with ceiling - qreal step = niceNumber(range / (tick_count - 1), false); - min = qFloor(min / step); - max = qCeil(max / step); - tick_count = int(max - min) + 1; - return {min * step, max * step, tick_count}; -} - -// nice numbers can be expressed as form of 1*10^n, 2* 10^n or 5*10^n -qreal ChartView::niceNumber(qreal x, bool ceiling) { - qreal z = qPow(10, qFloor(std::log10(x))); //find corresponding number of the form of 10^n than is smaller than x - qreal q = x / z; //q<10 && q>=1; - if (ceiling) { - if (q <= 1.0) q = 1; - else if (q <= 2.0) q = 2; - else if (q <= 5.0) q = 5; - else q = 10; - } else { - if (q < 1.5) q = 1; - else if (q < 3.0) q = 2; - else if (q < 7.0) q = 5; - else q = 10; - } - return q * z; -} - -void ChartView::leaveEvent(QEvent *event) { - track_pts.clear(); - scene()->update(); - QChartView::leaveEvent(event); -} - -void ChartView::mousePressEvent(QMouseEvent *event) { - if (event->button() == Qt::LeftButton && move_icon->sceneBoundingRect().contains(event->pos())) { - QMimeData *mimeData = new QMimeData; - mimeData->setData(mime_type, QByteArray::number((qulonglong)this)); - QDrag *drag = new QDrag(this); - drag->setMimeData(mimeData); - drag->setPixmap(grab()); - drag->setHotSpot(event->pos()); - Qt::DropAction dropAction = drag->exec(Qt::CopyAction | Qt::MoveAction, Qt::MoveAction); - if (dropAction == Qt::MoveAction) { - return; - } - } else { - QChartView::mousePressEvent(event); - } -} - -void ChartView::mouseReleaseEvent(QMouseEvent *event) { - auto rubber = findChild(); - if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) { - rubber->hide(); - QRectF rect = rubber->geometry().normalized(); - double min = chart()->mapToValue(rect.topLeft()).x(); - double max = chart()->mapToValue(rect.bottomRight()).x(); - - // Prevent zooming/seeking past the end of the route - min = std::clamp(min, 0., can->totalSeconds()); - max = std::clamp(max, 0., can->totalSeconds()); - - double min_rounded = std::floor(min * 10.0) / 10.0; - double max_rounded = std::floor(max * 10.0) / 10.0; - 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 - emit zoomIn(min_rounded, max_rounded); - } - event->accept(); - } else if (!can->liveStreaming() && event->button() == Qt::RightButton) { - emit zoomReset(); - event->accept(); - } else { - QGraphicsView::mouseReleaseEvent(event); - } -} - -void ChartView::mouseMoveEvent(QMouseEvent *ev) { - auto rubber = findChild(); - bool is_zooming = rubber && rubber->isVisible(); - const auto plot_area = chart()->plotArea(); - track_pts.clear(); - if (!is_zooming && plot_area.contains(ev->pos())) { - track_pts.resize(sigs.size()); - QStringList text_list; - const double sec = chart()->mapToValue(ev->pos()).x(); - for (int i = 0; i < sigs.size(); ++i) { - QString value = "--"; - // use reverse iterator to find last item <= sec. - auto it = std::lower_bound(sigs[i].vals.rbegin(), sigs[i].vals.rend(), sec, [](auto &p, double x) { return p.x() > x; }); - if (it != sigs[i].vals.rend() && it->x() >= axis_x->min()) { - value = QString::number(it->y()); - track_pts[i] = chart()->mapToPosition(*it); - } - text_list.push_back(QString("■ %2: %3").arg(sigs[i].series->color().name(), sigs[i].sig->name.c_str(), value)); - } - auto max = std::max_element(track_pts.begin(), track_pts.end(), [](auto &a, auto &b) { return a.x() < b.x(); }); - auto pt = (max == track_pts.end()) ? ev->pos() : *max; - text_list.push_front(QString::number(chart()->mapToValue(pt).x(), 'f', 3)); - QPointF tooltip_pt(pt.x() + 12, plot_area.top() - 20); - QToolTip::showText(mapToGlobal(tooltip_pt.toPoint()), pt.isNull() ? "" : text_list.join("
"), this, plot_area.toRect()); - scene()->invalidate({}, QGraphicsScene::ForegroundLayer); - } else { - QToolTip::hideText(); - } - - QChartView::mouseMoveEvent(ev); - if (is_zooming) { - QRect rubber_rect = rubber->geometry(); - rubber_rect.setLeft(std::max(rubber_rect.left(), (int)plot_area.left())); - rubber_rect.setRight(std::min(rubber_rect.right(), (int)plot_area.right())); - if (rubber_rect != rubber->geometry()) { - rubber->setGeometry(rubber_rect); - } - } -} - -void ChartView::dragMoveEvent(QDragMoveEvent *event) { - if (event->mimeData()->hasFormat(mime_type)) { - event->setDropAction(event->source() == this ? Qt::MoveAction : Qt::CopyAction); - event->accept(); - } else { - event->ignore(); - } -} - -void ChartView::dropEvent(QDropEvent *event) { - if (event->mimeData()->hasFormat(mime_type)) { - if (event->source() == this) { - event->setDropAction(Qt::MoveAction); - event->accept(); - } else { - ChartView *source_chart = (ChartView *)event->source(); - for (auto &s : source_chart->sigs) { - addSeries(s.msg_id, s.sig); - } - emit source_chart->remove(); - event->acceptProposedAction(); - } - } else { - event->ignore(); - } -} - -void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { - qreal x = chart()->mapToPosition(QPointF{cur_sec, 0}).x(); - x = std::clamp(x, chart()->plotArea().left(), chart()->plotArea().right()); - qreal y1 = chart()->plotArea().top() - 2; - qreal y2 = chart()->plotArea().bottom() + 2; - painter->setPen(QPen(chart()->titleBrush().color(), 2)); - painter->drawLine(QPointF{x, y1}, QPointF{x, y2}); - - auto max = std::max_element(track_pts.begin(), track_pts.end(), [](auto &a, auto &b) { return a.x() < b.x(); }); - if (max != track_pts.end() && !max->isNull()) { - painter->setPen(QPen(Qt::darkGray, 1, Qt::DashLine)); - painter->drawLine(QPointF{max->x(), y1}, QPointF{max->x(), y2}); - painter->setPen(Qt::NoPen); - for (int i = 0; i < track_pts.size(); ++i) { - if (!track_pts[i].isNull() && i < sigs.size()) { - painter->setBrush(sigs[i].series->color().darker(125)); - painter->drawEllipse(track_pts[i], 5.5, 5.5); - } - } - } - - // paint points. OpenGL mode lacks certain features (such as showing points) - painter->setPen(Qt::NoPen); - for (auto &s : sigs) { - if (s.series->useOpenGL() && s.series->isVisible() && s.series->pointsVisible()) { - auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; }); - auto last = std::lower_bound(first, s.vals.end(), axis_x->max(), [](auto &p, double x) { return p.x() < x; }); - for (auto it = first; it != last; ++it) { - painter->setBrush(s.series->color()); - painter->drawEllipse(chart()->mapToPosition(*it), 4, 4); - } - } - } -} - -QXYSeries *ChartView::createSeries(QAbstractSeries::SeriesType type, QColor color) { - QXYSeries *series = nullptr; - if (type == QAbstractSeries::SeriesTypeLine) { - series = new QLineSeries(this); - chart()->legend()->setMarkerShape(QLegend::MarkerShapeRectangle); - } else { - series = new QScatterSeries(this); - chart()->legend()->setMarkerShape(QLegend::MarkerShapeCircle); - } - series->setColor(color); - // TODO: Due to a bug in CameraWidget the camera frames - // are drawn instead of the graphs on MacOS. Re-enable OpenGL when fixed -#ifndef __APPLE__ - series->setUseOpenGL(true); - // Qt doesn't properly apply device pixel ratio in OpenGL mode - QPen pen = series->pen(); - pen.setWidth(2.0 * qApp->devicePixelRatio()); - series->setPen(pen); -#endif - chart()->addSeries(series); - series->attachAxis(axis_x); - series->attachAxis(axis_y); - return series; -} - -void ChartView::setSeriesType(QAbstractSeries::SeriesType type) { - line_series_action->setChecked(type == QAbstractSeries::SeriesTypeLine); - scatter_series_action->setChecked(type == QAbstractSeries::SeriesTypeScatter); - if (type != series_type) { - series_type = type; - for (auto &s : sigs) { - chart()->removeSeries(s.series); - s.series->deleteLater(); - } - for (auto &s : sigs) { - auto series = createSeries(series_type, getColor(s.sig)); - series->replace(s.vals); - s.series = series; - } - updateSeriesPoints(); - updateTitle(); - } -} - -void ChartView::handleMarkerClicked() { - auto marker = qobject_cast(sender()); - Q_ASSERT(marker); - if (sigs.size() > 1) { - auto series = marker->series(); - series->setVisible(!series->isVisible()); - marker->setVisible(true); - updateAxisY(); - updateTitle(); - } -} - -// SeriesSelector - -SeriesSelector::SeriesSelector(QString title, QWidget *parent) : QDialog(parent) { - setWindowTitle(title); - QGridLayout *main_layout = new QGridLayout(this); - - // left column - main_layout->addWidget(new QLabel(tr("Available Signals")), 0, 0); - main_layout->addWidget(msgs_combo = new QComboBox(this), 1, 0); - msgs_combo->setEditable(true); - msgs_combo->lineEdit()->setPlaceholderText(tr("Select a msg...")); - msgs_combo->setInsertPolicy(QComboBox::NoInsert); - msgs_combo->completer()->setCompletionMode(QCompleter::PopupCompletion); - msgs_combo->completer()->setFilterMode(Qt::MatchContains); - - main_layout->addWidget(available_list = new QListWidget(this), 2, 0); - - // buttons - QVBoxLayout *btn_layout = new QVBoxLayout(); - QPushButton *add_btn = new QPushButton(utils::icon("chevron-right"), "", this); - add_btn->setEnabled(false); - QPushButton *remove_btn = new QPushButton(utils::icon("chevron-left"), "", this); - remove_btn->setEnabled(false); - btn_layout->addStretch(0); - btn_layout->addWidget(add_btn); - btn_layout->addWidget(remove_btn); - btn_layout->addStretch(0); - main_layout->addLayout(btn_layout, 0, 1, 3, 1); - - // right column - main_layout->addWidget(new QLabel(tr("Selected Signals")), 0, 2); - main_layout->addWidget(selected_list = new QListWidget(this), 1, 2, 2, 1); - - auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); - main_layout->addWidget(buttonBox, 3, 2); - - for (auto it = can->can_msgs.cbegin(); it != can->can_msgs.cend(); ++it) { - if (auto m = dbc()->msg(it.key())) { - msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(it.key().toString()), QVariant::fromValue(it.key())); - } - } - msgs_combo->model()->sort(0); - msgs_combo->setCurrentIndex(-1); - - QObject::connect(msgs_combo, qOverload(&QComboBox::currentIndexChanged), this, &SeriesSelector::updateAvailableList); - QObject::connect(available_list, &QListWidget::currentRowChanged, [=](int row) { add_btn->setEnabled(row != -1); }); - QObject::connect(selected_list, &QListWidget::currentRowChanged, [=](int row) { remove_btn->setEnabled(row != -1); }); - QObject::connect(available_list, &QListWidget::itemDoubleClicked, this, &SeriesSelector::add); - QObject::connect(selected_list, &QListWidget::itemDoubleClicked, this, &SeriesSelector::remove); - QObject::connect(add_btn, &QPushButton::clicked, [this]() { if (auto item = available_list->currentItem()) add(item); }); - QObject::connect(remove_btn, &QPushButton::clicked, [this]() { if (auto item = selected_list->currentItem()) remove(item);}); - QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); - QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); -} - -void SeriesSelector::add(QListWidgetItem *item) { - auto it = (ListItem *)item; - addItemToList(selected_list, it->msg_id, it->sig, true); - delete item; -} - -void SeriesSelector::remove(QListWidgetItem *item) { - auto it = (ListItem *)item; - if (it->msg_id == msgs_combo->currentData().value()) { - addItemToList(available_list, it->msg_id, it->sig); - } - delete item; -} - -void SeriesSelector::updateAvailableList(int index) { - if (index == -1) return; - available_list->clear(); - MessageId msg_id = msgs_combo->itemData(index).value(); - auto selected_items = seletedItems(); - for (auto &[name, s] : dbc()->msg(msg_id)->sigs) { - bool is_selected = std::any_of(selected_items.begin(), selected_items.end(), [=, sig=&s](auto it) { return it->msg_id == msg_id && it->sig == sig; }); - if (!is_selected) { - addItemToList(available_list, msg_id, &s); - } - } -} - -void SeriesSelector::addItemToList(QListWidget *parent, const MessageId id, const Signal *sig, bool show_msg_name) { - QString text = QString("■ %1").arg(getColor(sig).name(), sig->name.c_str()); - if (show_msg_name) text += QString(" %0 %1").arg(msgName(id), id.toString()); - - QLabel *label = new QLabel(text); - label->setContentsMargins(5, 0, 5, 0); - auto new_item = new ListItem(id, sig, parent); - new_item->setSizeHint(label->sizeHint()); - parent->setItemWidget(new_item, label); -} - -QList SeriesSelector::seletedItems() { - QList ret; - for (int i = 0; i < selected_list->count(); ++i) ret.push_back((ListItem *)selected_list->item(i)); - return ret; -} diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h deleted file mode 100644 index 7569155d39..0000000000 --- a/tools/cabana/chartswidget.h +++ /dev/null @@ -1,171 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "tools/cabana/dbcmanager.h" -#include "tools/cabana/streams/abstractstream.h" - -using namespace QtCharts; - -const int CHART_MIN_WIDTH = 300; - -class ChartView : public QChartView { - Q_OBJECT - -public: - ChartView(QWidget *parent = nullptr); - void addSeries(const MessageId &msg_id, const Signal *sig); - bool hasSeries(const MessageId &msg_id, const Signal *sig) const; - void updateSeries(const Signal *sig = nullptr, const std::vector *events = nullptr, bool clear = true); - void updatePlot(double cur, double min, double max); - void setSeriesType(QAbstractSeries::SeriesType type); - void updatePlotArea(int left); - - struct SigItem { - MessageId msg_id; - const Signal *sig = nullptr; - QXYSeries *series = nullptr; - QVector vals; - uint64_t last_value_mono_time = 0; - }; - -signals: - void seriesRemoved(const MessageId &id, const Signal *sig); - void seriesAdded(const MessageId &id, const Signal *sig); - void zoomIn(double min, double max); - void zoomReset(); - void remove(); - void axisYLabelWidthChanged(int w); - -private slots: - void msgUpdated(uint32_t address); - void signalUpdated(const Signal *sig); - void manageSeries(); - void handleMarkerClicked(); - void msgRemoved(uint32_t address) { removeIf([=](auto &s) { return s.msg_id.address == address; }); } - void signalRemoved(const Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); } - -private: - void mousePressEvent(QMouseEvent *event) override; - void mouseReleaseEvent(QMouseEvent *event) override; - void mouseMoveEvent(QMouseEvent *ev) override; - void dragMoveEvent(QDragMoveEvent *event) override; - void dropEvent(QDropEvent *event) override; - void leaveEvent(QEvent *event) override; - void resizeEvent(QResizeEvent *event) override; - QSize sizeHint() const override { return {CHART_MIN_WIDTH, settings.chart_height}; } - void updateAxisY(); - void updateTitle(); - void drawForeground(QPainter *painter, const QRectF &rect) override; - std::tuple getNiceAxisNumbers(qreal min, qreal max, int tick_count); - qreal niceNumber(qreal x, bool ceiling); - QXYSeries *createSeries(QAbstractSeries::SeriesType type, QColor color); - void updateSeriesPoints(); - void removeIf(std::function predicate); - - int y_label_width = 0; - int align_to = 0; - QValueAxis *axis_x; - QValueAxis *axis_y; - QVector track_pts; - QGraphicsPixmapItem *move_icon; - QGraphicsProxyWidget *close_btn_proxy; - QGraphicsProxyWidget *manage_btn_proxy; - QGraphicsRectItem *background; - QList sigs; - double cur_sec = 0; - const QString mime_type = "application/x-cabanachartview"; - QAbstractSeries::SeriesType series_type = QAbstractSeries::SeriesTypeLine; - QAction *line_series_action; - QAction *scatter_series_action; - friend class ChartsWidget; - }; - -class ChartsWidget : public QWidget { - Q_OBJECT - -public: - ChartsWidget(QWidget *parent = nullptr); - void showChart(const MessageId &id, const Signal *sig, bool show, bool merge); - inline bool hasSignal(const MessageId &id, const Signal *sig) { return findChart(id, sig) != nullptr; } - -public slots: - void setColumnCount(int n); - void removeAll(); - -signals: - void dock(bool floating); - void rangeChanged(double min, double max, bool is_zommed); - void seriesChanged(); - -private: - void resizeEvent(QResizeEvent *event) override; - void alignCharts(); - void newChart(); - ChartView * createChart(); - void removeChart(ChartView *chart); - void eventsMerged(); - void updateState(); - void zoomIn(double min, double max); - void zoomReset(); - void updateToolBar(); - void setMaxChartRange(int value); - void updateLayout(); - void settingChanged(); - bool eventFilter(QObject *obj, QEvent *event) override; - ChartView *findChart(const MessageId &id, const Signal *sig); - - QLabel *title_label; - QLabel *range_lb; - QSlider *range_slider; - QAction *range_lb_action; - QAction *range_slider_action; - bool docking = true; - QAction *dock_btn; - QAction *reset_zoom_action; - QAction *remove_all_btn; - QGridLayout *charts_layout; - QList charts; - uint32_t max_chart_range = 0; - bool is_zoomed = false; - std::pair display_range; - std::pair zoomed_range; - bool use_dark_theme = false; - QAction *columns_action; - int column_count = 1; - int current_column_count = 0; -}; - -class SeriesSelector : public QDialog { -public: - struct ListItem : public QListWidgetItem { - ListItem(const MessageId &msg_id, const Signal *sig, QListWidget *parent) : msg_id(msg_id), sig(sig), QListWidgetItem(parent) {} - MessageId msg_id; - const Signal *sig; - }; - - SeriesSelector(QString title, QWidget *parent); - QList seletedItems(); - inline void addSelected(const MessageId &id, const Signal *sig) { addItemToList(selected_list, id, sig, true); } - -private: - void updateAvailableList(int index); - void addItemToList(QListWidget *parent, const MessageId id, const Signal *sig, bool show_msg_name = false); - void add(QListWidgetItem *item); - void remove(QListWidgetItem *item); - - QComboBox *msgs_combo; - QListWidget *available_list; - QListWidget *selected_list; -}; diff --git a/tools/cabana/commands.cc b/tools/cabana/commands.cc index b03f46b5d2..d64e173338 100644 --- a/tools/cabana/commands.cc +++ b/tools/cabana/commands.cc @@ -4,24 +4,27 @@ // EditMsgCommand -EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &title, int size, QUndoCommand *parent) - : id(id), new_title(title), new_size(size), QUndoCommand(parent) { +EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &comment, QUndoCommand *parent) + : id(id), new_name(name), new_size(size), new_comment(comment), QUndoCommand(parent) { if (auto msg = dbc()->msg(id)) { - old_title = msg->name; + old_name = msg->name; old_size = msg->size; + old_comment = msg->comment; + setText(QObject::tr("edit message %1:%2").arg(name).arg(id.address)); + } else { + setText(QObject::tr("new message %1:%2").arg(name).arg(id.address)); } - setText(QObject::tr("Edit message %1:%2").arg(id.address).arg(title)); } void EditMsgCommand::undo() { - if (old_title.isEmpty()) + if (old_name.isEmpty()) dbc()->removeMsg(id); else - dbc()->updateMsg(id, old_title, old_size); + dbc()->updateMsg(id, old_name, old_size, old_comment); } void EditMsgCommand::redo() { - dbc()->updateMsg(id, new_title, new_size); + dbc()->updateMsg(id, new_name, new_size, new_comment); } // RemoveMsgCommand @@ -29,15 +32,15 @@ void EditMsgCommand::redo() { RemoveMsgCommand::RemoveMsgCommand(const MessageId &id, QUndoCommand *parent) : id(id), QUndoCommand(parent) { if (auto msg = dbc()->msg(id)) { message = *msg; - setText(QObject::tr("Remove message %1:%2").arg(id.address).arg(message.name)); + setText(QObject::tr("remove message %1:%2").arg(message.name).arg(id.address)); } } void RemoveMsgCommand::undo() { if (!message.name.isEmpty()) { - dbc()->updateMsg(id, message.name, message.size); - for (auto &[name, s] : message.sigs) - dbc()->addSignal(id, s); + dbc()->updateMsg(id, message.name, message.size, message.comment); + for (auto s : message.getSignals()) + dbc()->addSignal(id, *s); } } @@ -48,33 +51,33 @@ void RemoveMsgCommand::redo() { // AddSigCommand -AddSigCommand::AddSigCommand(const MessageId &id, const Signal &sig, QUndoCommand *parent) +AddSigCommand::AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUndoCommand *parent) : id(id), signal(sig), QUndoCommand(parent) { - setText(QObject::tr("Add signal %1 to %2").arg(sig.name.c_str()).arg(id.address)); + setText(QObject::tr("add signal %1 to %2:%3").arg(sig.name).arg(msgName(id)).arg(id.address)); } -void AddSigCommand::undo() { dbc()->removeSignal(id, signal.name.c_str()); } +void AddSigCommand::undo() { dbc()->removeSignal(id, signal.name); } void AddSigCommand::redo() { dbc()->addSignal(id, signal); } // RemoveSigCommand -RemoveSigCommand::RemoveSigCommand(const MessageId &id, const Signal *sig, QUndoCommand *parent) +RemoveSigCommand::RemoveSigCommand(const MessageId &id, const cabana::Signal *sig, QUndoCommand *parent) : id(id), signal(*sig), QUndoCommand(parent) { - setText(QObject::tr("Remove signal %1 from %2").arg(signal.name.c_str()).arg(id.address)); + setText(QObject::tr("remove signal %1 from %2:%3").arg(signal.name).arg(msgName(id)).arg(id.address)); } void RemoveSigCommand::undo() { dbc()->addSignal(id, signal); } -void RemoveSigCommand::redo() { dbc()->removeSignal(id, signal.name.c_str()); } +void RemoveSigCommand::redo() { dbc()->removeSignal(id, signal.name); } // EditSignalCommand -EditSignalCommand::EditSignalCommand(const MessageId &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent) +EditSignalCommand::EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig, QUndoCommand *parent) : id(id), old_signal(*sig), new_signal(new_sig), QUndoCommand(parent) { - setText(QObject::tr("Edit signal %1").arg(old_signal.name.c_str())); + setText(QObject::tr("edit signal %1 in %2:%3").arg(old_signal.name).arg(msgName(id)).arg(id.address)); } -void EditSignalCommand::undo() { dbc()->updateSignal(id, new_signal.name.c_str(), old_signal); } -void EditSignalCommand::redo() { dbc()->updateSignal(id, old_signal.name.c_str(), new_signal); } +void EditSignalCommand::undo() { dbc()->updateSignal(id, new_signal.name, old_signal); } +void EditSignalCommand::redo() { dbc()->updateSignal(id, old_signal.name, new_signal); } namespace UndoStack { diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h index 46e9f0a030..2552115229 100644 --- a/tools/cabana/commands.h +++ b/tools/cabana/commands.h @@ -3,17 +3,18 @@ #include #include -#include "tools/cabana/dbcmanager.h" +#include "tools/cabana/dbc/dbcmanager.h" +#include "tools/cabana/streams/abstractstream.h" class EditMsgCommand : public QUndoCommand { public: - EditMsgCommand(const MessageId &id, const QString &title, int size, QUndoCommand *parent = nullptr); + EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &comment, QUndoCommand *parent = nullptr); void undo() override; void redo() override; private: const MessageId id; - QString old_title, new_title; + QString old_name, new_name, old_comment, new_comment; int old_size = 0, new_size = 0; }; @@ -25,41 +26,41 @@ public: private: const MessageId id; - DBCMsg message; + cabana::Msg message; }; class AddSigCommand : public QUndoCommand { public: - AddSigCommand(const MessageId &id, const Signal &sig, QUndoCommand *parent = nullptr); + AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUndoCommand *parent = nullptr); void undo() override; void redo() override; private: const MessageId id; - Signal signal = {}; + cabana::Signal signal = {}; }; class RemoveSigCommand : public QUndoCommand { public: - RemoveSigCommand(const MessageId &id, const Signal *sig, QUndoCommand *parent = nullptr); + RemoveSigCommand(const MessageId &id, const cabana::Signal *sig, QUndoCommand *parent = nullptr); void undo() override; void redo() override; private: const MessageId id; - Signal signal = {}; + cabana::Signal signal = {}; }; class EditSignalCommand : public QUndoCommand { public: - EditSignalCommand(const MessageId &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent = nullptr); + EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig, QUndoCommand *parent = nullptr); void undo() override; void redo() override; private: const MessageId id; - Signal old_signal = {}; - Signal new_signal = {}; + cabana::Signal old_signal = {}; + cabana::Signal new_signal = {}; }; namespace UndoStack { diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc new file mode 100644 index 0000000000..ac91922e01 --- /dev/null +++ b/tools/cabana/dbc/dbc.cc @@ -0,0 +1,115 @@ +#include "tools/cabana/dbc/dbc.h" +#include "tools/cabana/util.h" + +uint qHash(const MessageId &item) { + return qHash(item.source) ^ qHash(item.address); +} + +std::vector cabana::Msg::getSignals() const { + std::vector ret; + ret.reserve(sigs.size()); + for (auto &sig : sigs) ret.push_back(&sig); + std::sort(ret.begin(), ret.end(), [](auto l, auto r) { return l->start_bit < r->start_bit; }); + return ret; +} + +void cabana::Msg::updateMask() { + mask = QVector(size, 0x00).toList(); + for (auto &sig : sigs) { + int i = sig.msb / 8; + int bits = sig.size; + while (i >= 0 && i < size && bits > 0) { + int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8; + int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1; + + int sz = msb - lsb + 1; + int shift = (lsb - (i * 8)); + + mask[i] |= ((1ULL << sz) - 1) << shift; + + bits -= size; + i = sig.is_little_endian ? i - 1 : i + 1; + } + } +} + +void cabana::Signal::updatePrecision() { + precision = std::max(num_decimals(factor), num_decimals(offset)); +} + +QString cabana::Signal::formatValue(double value) const { + // Show enum string + for (auto &[val, desc] : val_desc) { + if (std::abs(value - val.toInt()) < 1e-6) { + return desc; + } + } + + QString val_str = QString::number(value, 'f', precision); + if (!unit.isEmpty()) { + val_str += " " + unit; + } + return val_str; +} + +// helper functions + +static QVector BIG_ENDIAN_START_BITS = []() { + QVector ret; + for (int i = 0; i < 64; i++) + for (int j = 7; j >= 0; j--) + ret.push_back(j + i * 8); + return ret; +}(); + +double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig) { + int64_t val = 0; + + int i = sig.msb / 8; + int bits = sig.size; + while (i >= 0 && i < data_size && bits > 0) { + int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8; + int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1; + int size = msb - lsb + 1; + + uint64_t d = (data[i] >> (lsb - (i * 8))) & ((1ULL << size) - 1); + val |= d << (bits - size); + + bits -= size; + i = sig.is_little_endian ? i - 1 : i + 1; + } + if (sig.is_signed) { + val -= ((val >> (sig.size - 1)) & 0x1) ? (1ULL << sig.size) : 0; + } + return val * sig.factor + sig.offset; +} + +bool cabana::operator==(const cabana::Signal &l, const cabana::Signal &r) { + return l.name == r.name && l.size == r.size && + l.start_bit == r.start_bit && + l.msb == r.msb && l.lsb == r.lsb && + l.is_signed == r.is_signed && l.is_little_endian == r.is_little_endian && + l.factor == r.factor && l.offset == r.offset && + l.min == r.min && l.max == r.max && l.comment == r.comment && l.unit == r.unit && l.val_desc == r.val_desc; +} + +int bigEndianStartBitsIndex(int start_bit) { return BIG_ENDIAN_START_BITS[start_bit]; } +int bigEndianBitIndex(int index) { return BIG_ENDIAN_START_BITS.indexOf(index); } + +void updateSigSizeParamsFromRange(cabana::Signal &s, int start_bit, int size) { + s.start_bit = s.is_little_endian ? start_bit : bigEndianBitIndex(start_bit); + s.size = size; + if (s.is_little_endian) { + s.lsb = s.start_bit; + s.msb = s.start_bit + s.size - 1; + } else { + s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); + s.msb = s.start_bit; + } +} + +std::pair getSignalRange(const cabana::Signal *s) { + int from = s->is_little_endian ? s->start_bit : bigEndianBitIndex(s->start_bit); + int to = from + s->size - 1; + return {from, to}; +} diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h new file mode 100644 index 0000000000..b43d9cdecc --- /dev/null +++ b/tools/cabana/dbc/dbc.h @@ -0,0 +1,92 @@ +#pragma once + +#include +#include +#include +#include + +#include "opendbc/can/common_dbc.h" + +const QString UNTITLED = "untitled"; + +struct MessageId { + uint8_t source = 0; + uint32_t address = 0; + + QString toString() const { + return QString("%1:%2").arg(source).arg(address, 1, 16); + } + + bool operator==(const MessageId &other) const { + return source == other.source && address == other.address; + } + + bool operator!=(const MessageId &other) const { + return !(*this == other); + } + + bool operator<(const MessageId &other) const { + return std::pair{source, address} < std::pair{other.source, other.address}; + } + + bool operator>(const MessageId &other) const { + return std::pair{source, address} > std::pair{other.source, other.address}; + } +}; + +uint qHash(const MessageId &item); +Q_DECLARE_METATYPE(MessageId); + +template <> +struct std::hash { + std::size_t operator()(const MessageId &k) const noexcept { return qHash(k); } +}; + +typedef QList> ValueDescription; + +namespace cabana { + struct Signal { + QString name; + int start_bit, msb, lsb, size; + bool is_signed; + double factor, offset; + bool is_little_endian; + double min, max; + QString unit; + QString comment; + ValueDescription val_desc; + int precision = 0; + void updatePrecision(); + QString formatValue(double value) const; + }; + + struct Msg { + uint32_t address; + QString name; + uint32_t size; + QString comment; + QList sigs; + + QList mask; + void updateMask(); + + std::vector getSignals() const; + const cabana::Signal *sig(const QString &sig_name) const { + auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s.name == sig_name; }); + return it != sigs.end() ? &(*it) : nullptr; + } + }; + + bool operator==(const cabana::Signal &l, const cabana::Signal &r); + inline bool operator!=(const cabana::Signal &l, const cabana::Signal &r) { return !(l == r); } +} + +// Helper functions +double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig); +int bigEndianStartBitsIndex(int start_bit); +int bigEndianBitIndex(int index); +void updateSigSizeParamsFromRange(cabana::Signal &s, int start_bit, int size); +std::pair getSignalRange(const cabana::Signal *s); +inline std::vector allDBCNames() { return get_dbc_names(); } +inline QString doubleToString(double value) { return QString::number(value, 'g', std::numeric_limits::digits10); } + diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc new file mode 100644 index 0000000000..4679831ddc --- /dev/null +++ b/tools/cabana/dbc/dbcfile.cc @@ -0,0 +1,289 @@ +#include "tools/cabana/dbc/dbcfile.h" + +#include +#include +#include +#include +#include +#include + +DBCFile::DBCFile(const QString &dbc_file_name, QObject *parent) : QObject(parent) { + QFile file(dbc_file_name); + if (file.open(QIODevice::ReadOnly)) { + name_ = QFileInfo(dbc_file_name).baseName(); + filename = dbc_file_name; + // Remove auto save file extension + if (dbc_file_name.endsWith(AUTO_SAVE_EXTENSION)) { + filename.chop(AUTO_SAVE_EXTENSION.length()); + } + open(file.readAll()); + } else { + throw std::runtime_error("Failed to open file."); + } +} + +DBCFile::DBCFile(const QString &name, const QString &content, QObject *parent) : QObject(parent), name_(name), filename("") { + // Open from clipboard + open(content); +} + +void DBCFile::open(const QString &content) { + std::istringstream stream(content.toStdString()); + auto dbc = const_cast(dbc_parse_from_stream(name_.toStdString(), stream)); + msgs.clear(); + for (auto &msg : dbc->msgs) { + auto &m = msgs[msg.address]; + m.address = msg.address; + m.name = msg.name.c_str(); + m.size = msg.size; + for (auto &s : msg.sigs) { + m.sigs.push_back({}); + auto &sig = m.sigs.last(); + sig.name = s.name.c_str(); + sig.start_bit = s.start_bit; + sig.msb = s.msb; + sig.lsb = s.lsb; + sig.size = s.size; + sig.is_signed = s.is_signed; + sig.factor = s.factor; + sig.offset = s.offset; + sig.is_little_endian = s.is_little_endian; + sig.updatePrecision(); + } + m.updateMask(); + } + parseExtraInfo(content); + + delete dbc; +} + +bool DBCFile::save() { + assert (!filename.isEmpty()); + if (writeContents(filename)) { + cleanupAutoSaveFile(); + return true; + } + return false; +} + +bool DBCFile::saveAs(const QString &new_filename) { + filename = new_filename; + return save(); +} + +bool DBCFile::autoSave() { + return !filename.isEmpty() && writeContents(filename + AUTO_SAVE_EXTENSION); +} + +void DBCFile::cleanupAutoSaveFile() { + if (!filename.isEmpty()) { + QFile::remove(filename + AUTO_SAVE_EXTENSION); + } +} + +bool DBCFile::writeContents(const QString &fn) { + QFile file(fn); + if (file.open(QIODevice::WriteOnly)) { + file.write(generateDBC().toUtf8()); + return true; + } + return false; +} + +cabana::Signal *DBCFile::addSignal(const MessageId &id, const cabana::Signal &sig) { + if (auto m = const_cast(msg(id.address))) { + m->sigs.push_back(sig); + m->updateMask(); + return &m->sigs.last(); + } + return nullptr; +} + + cabana::Signal *DBCFile::updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig) { + if (auto m = const_cast(msg(id))) { + if (auto s = (cabana::Signal *)m->sig(sig_name)) { + *s = sig; + m->updateMask(); + return s; + } + } + return nullptr; +} + +cabana::Signal *DBCFile::getSignal(const MessageId &id, const QString &sig_name) { + auto m = msg(id); + return m ? (cabana::Signal *)m->sig(sig_name) : nullptr; +} + +void DBCFile::removeSignal(const MessageId &id, const QString &sig_name) { + if (auto m = const_cast(msg(id))) { + auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [&](auto &s) { return s.name == sig_name; }); + if (it != m->sigs.end()) { + m->sigs.erase(it); + m->updateMask(); + } + } +} + +void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) { + auto &m = msgs[id.address]; + m.address = id.address; + m.name = name; + m.size = size; + m.comment = comment; +} + +void DBCFile::removeMsg(const MessageId &id) { + msgs.erase(id.address); +} + +QString DBCFile::newMsgName(const MessageId &id) { + return QString("NEW_MSG_") + QString::number(id.address, 16).toUpper(); +} + +QString DBCFile::newSignalName(const MessageId &id) { + auto m = msg(id); + assert(m != nullptr); + + QString name; + for (int i = 1; /**/; ++i) { + name = QString("NEW_SIGNAL_%1").arg(i); + if (m->sig(name) == nullptr) break; + } + return name; +} + +const QList& DBCFile::mask(const MessageId &id) const { + auto m = msg(id); + return m ? m->mask : empty_mask; +} + +const cabana::Msg *DBCFile::msg(uint32_t address) const { + auto it = msgs.find(address); + return it != msgs.end() ? &it->second : nullptr; +} + +const cabana::Msg* DBCFile::msg(const QString &name) { + auto it = std::find_if(msgs.cbegin(), msgs.cend(), [&name](auto &m) { return m.second.name == name; }); + return it != msgs.cend() ? &(it->second) : nullptr; +} + +QStringList DBCFile::signalNames() const { + // Used for autocompletion + QStringList ret; + for (auto const& [_, msg] : msgs) { + for (auto sig: msg.getSignals()) { + ret << sig->name; + } + } + ret.sort(); + ret.removeDuplicates(); + return ret; +} + +int DBCFile::signalCount(const MessageId &id) const { + if (msgs.count(id.address) == 0) return 0; + return msgs.at(id.address).sigs.size(); +} + +int DBCFile::signalCount() const { + return std::accumulate(msgs.cbegin(), msgs.cend(), 0, [](int &n, const auto &m) { return n + m.second.sigs.size(); }); +} + +void DBCFile::parseExtraInfo(const QString &content) { + static QRegularExpression bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))"); + static QRegularExpression sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); + static QRegularExpression sgm_regexp(R"(^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); + static QRegularExpression msg_comment_regexp(R"(^CM_ BO_ *(\w+) *\"(.*)\";)"); + static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"(.*)\";)"); + static QRegularExpression val_regexp(R"(VAL_ (\w+) (\w+) (.*);)"); + auto get_sig = [this](uint32_t address, const QString &name) -> cabana::Signal * { + auto m = (cabana::Msg *)msg(address); + return m ? (cabana::Signal *)m->sig(name) : nullptr; + }; + + QTextStream stream((QString *)&content); + uint32_t address = 0; + while (!stream.atEnd()) { + QString line = stream.readLine().trimmed(); + if (line.startsWith("BO_ ")) { + if (auto match = bo_regexp.match(line); match.hasMatch()) { + address = match.captured(1).toUInt(); + } + } else if (line.startsWith("SG_ ")) { + int offset = 0; + auto match = sg_regexp.match(line); + if (!match.hasMatch()) { + match = sgm_regexp.match(line); + offset = 1; + } + if (match.hasMatch()) { + if (auto s = get_sig(address, match.captured(1))) { + s->min = match.captured(8 + offset).toDouble(); + s->max = match.captured(9 + offset).toDouble(); + s->unit = match.captured(10 + offset); + } + } + } else if (line.startsWith("VAL_ ")) { + if (auto match = val_regexp.match(line); match.hasMatch()) { + if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) { + QStringList desc_list = match.captured(3).trimmed().split('"'); + for (int i = 0; i < desc_list.size(); i += 2) { + auto val = desc_list[i].trimmed(); + if (!val.isEmpty() && (i + 1) < desc_list.size()) { + auto desc = desc_list[i+1].trimmed(); + s->val_desc.push_back({val, desc}); + } + } + } + } + } else if (line.startsWith("CM_ BO_")) { + if (auto match = msg_comment_regexp.match(line); match.hasMatch()) { + if (auto m = (cabana::Msg *)msg(match.captured(1).toUInt())) { + m->comment = match.captured(2).trimmed(); + } + } + } else if (line.startsWith("CM_ SG_ ")) { + if (auto match = sg_comment_regexp.match(line); match.hasMatch()) { + if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) { + s->comment = match.captured(3).trimmed(); + } + } + } + } +} + +QString DBCFile::generateDBC() { + QString dbc_string, signal_comment, message_comment, val_desc; + for (const auto &[address, m] : msgs) { + dbc_string += QString("BO_ %1 %2: %3 XXX\n").arg(address).arg(m.name).arg(m.size); + if (!m.comment.isEmpty()) { + message_comment += QString("CM_ BO_ %1 \"%2\";\n").arg(address).arg(m.comment); + } + for (auto sig : m.getSignals()) { + dbc_string += QString(" SG_ %1 : %2|%3@%4%5 (%6,%7) [%8|%9] \"%10\" XXX\n") + .arg(sig->name) + .arg(sig->start_bit) + .arg(sig->size) + .arg(sig->is_little_endian ? '1' : '0') + .arg(sig->is_signed ? '-' : '+') + .arg(doubleToString(sig->factor)) + .arg(doubleToString(sig->offset)) + .arg(doubleToString(sig->min)) + .arg(doubleToString(sig->max)) + .arg(sig->unit); + if (!sig->comment.isEmpty()) { + signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment); + } + if (!sig->val_desc.isEmpty()) { + QStringList text; + for (auto &[val, desc] : sig->val_desc) { + text << QString("%1 \"%2\"").arg(val, desc); + } + val_desc += QString("VAL_ %1 %2 %3;\n").arg(address).arg(sig->name).arg(text.join(" ")); + } + } + dbc_string += "\n"; + } + return dbc_string + message_comment + signal_comment + val_desc; +} diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h new file mode 100644 index 0000000000..1ed9e9cd0a --- /dev/null +++ b/tools/cabana/dbc/dbcfile.h @@ -0,0 +1,61 @@ +#pragma once + +#include +#include +#include +#include + +#include "tools/cabana/dbc/dbc.h" + +const QString AUTO_SAVE_EXTENSION = ".tmp"; + +class DBCFile : public QObject { + Q_OBJECT + +public: + DBCFile(const QString &dbc_file_name, QObject *parent=nullptr); + DBCFile(const QString &name, const QString &content, QObject *parent=nullptr); + ~DBCFile() {} + + void open(const QString &content); + + bool save(); + bool saveAs(const QString &new_filename); + bool autoSave(); + bool writeContents(const QString &fn); + void cleanupAutoSaveFile(); + QString generateDBC(); + + cabana::Signal *addSignal(const MessageId &id, const cabana::Signal &sig); + cabana::Signal *updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig); + cabana::Signal *getSignal(const MessageId &id, const QString &sig_name); + void removeSignal(const MessageId &id, const QString &sig_name); + + void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment); + void removeMsg(const MessageId &id); + + QString newMsgName(const MessageId &id); + QString newSignalName(const MessageId &id); + + const QList& mask(const MessageId &id) const; + + inline std::map getMessages() const { return msgs; } + const cabana::Msg *msg(uint32_t address) const; + const cabana::Msg* msg(const QString &name); + inline const cabana::Msg *msg(const MessageId &id) const { return msg(id.address); }; + + QStringList signalNames() const; + int signalCount(const MessageId &id) const; + int signalCount() const; + inline int msgCount() const { return msgs.size(); } + inline QString name() const { return name_.isEmpty() ? "untitled" : name_; } + inline bool isEmpty() const { return (signalCount() == 0) && name_.isEmpty(); } + + QString filename; + +private: + void parseExtraInfo(const QString &content); + std::map msgs; + QString name_; + QList empty_mask; +}; diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc new file mode 100644 index 0000000000..2176635caa --- /dev/null +++ b/tools/cabana/dbc/dbcmanager.cc @@ -0,0 +1,302 @@ +#include "tools/cabana/dbc/dbcmanager.h" +#include + +bool DBCManager::open(SourceSet s, const QString &dbc_file_name, QString *error) { + for (int i = 0; i < dbc_files.size(); i++) { + auto [ss, dbc_file] = dbc_files[i]; + + // Check if file is already open, and merge sources + if (dbc_file->filename == dbc_file_name) { + dbc_files[i] = {ss | s, dbc_file}; + + emit DBCFileChanged(); + return true; + } + } + + try { + dbc_files.push_back({s, new DBCFile(dbc_file_name, this)}); + } catch (std::exception &e) { + if (error) *error = e.what(); + return false; + } + + emit DBCFileChanged(); + return true; +} + +bool DBCManager::open(SourceSet s, const QString &name, const QString &content, QString *error) { + try { + dbc_files.push_back({s, new DBCFile(name, content, this)}); + } catch (std::exception &e) { + if (error) *error = e.what(); + return false; + } + + emit DBCFileChanged(); + return true; +} + +void DBCManager::close(SourceSet s) { + // Build new list of dbc files, removing the ones that match the sourceset + QList> new_dbc_files; + for (auto entry : dbc_files) { + if (entry.first == s) { + delete entry.second; + } else { + new_dbc_files.push_back(entry); + } + } + + dbc_files = new_dbc_files; + emit DBCFileChanged(); +} + +void DBCManager::close(DBCFile *dbc_file) { + assert(dbc_file != nullptr); + + // Build new list of dbc files, removing the one that matches dbc_file* + QList> new_dbc_files; + for (auto entry : dbc_files) { + if (entry.second == dbc_file) { + delete entry.second; + } else { + new_dbc_files.push_back(entry); + } + } + + dbc_files = new_dbc_files; + emit DBCFileChanged(); +} + +void DBCManager::closeAll() { + if (dbc_files.isEmpty()) return; + + while (dbc_files.size()) { + DBCFile *dbc_file = dbc_files.back().second; + dbc_files.pop_back(); + delete dbc_file; + } + emit DBCFileChanged(); +} + +void DBCManager::removeSourcesFromFile(DBCFile *dbc_file, SourceSet s) { + assert(dbc_file != nullptr); + + // Build new list of dbc files, for the given dbc_file* remove s from the current sources + QList> new_dbc_files; + for (auto entry : dbc_files) { + if (entry.second == dbc_file) { + SourceSet ss = (entry.first == SOURCE_ALL) ? sources : entry.first; + ss -= s; + if (ss.empty()) { // Close file if no more sources remain + delete dbc_file; + } else { + new_dbc_files.push_back({ss, dbc_file}); + } + } else { + new_dbc_files.push_back(entry); + } + } + + dbc_files = new_dbc_files; + emit DBCFileChanged(); +} + + +void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) { + auto sources_dbc_file = findDBCFile(id); + assert(sources_dbc_file); // Create new DBC? + auto [dbc_sources, dbc_file] = *sources_dbc_file; + + cabana::Signal *s = dbc_file->addSignal(id, sig); + + if (s != nullptr) { + dbc_sources.insert(id.source); + for (uint8_t source : dbc_sources) { + emit signalAdded({.source = source, .address = id.address}, s); + } + } +} + +void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig) { + auto sources_dbc_file = findDBCFile(id); + assert(sources_dbc_file); // This should be impossible + auto [_, dbc_file] = *sources_dbc_file; + + cabana::Signal *s = dbc_file->updateSignal(id, sig_name, sig); + + if (s != nullptr) { + emit signalUpdated(s); + } +} + +void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) { + auto sources_dbc_file = findDBCFile(id); + assert(sources_dbc_file); // This should be impossible + auto [_, dbc_file] = *sources_dbc_file; + + cabana::Signal *s = dbc_file->getSignal(id, sig_name); + + if (s != nullptr) { + emit signalRemoved(s); + dbc_file->removeSignal(id, sig_name); + } +} + +void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) { + auto sources_dbc_file = findDBCFile(id); + assert(sources_dbc_file); // This should be impossible + auto [dbc_sources, dbc_file] = *sources_dbc_file; + + dbc_file->updateMsg(id, name, size, comment); + + for (uint8_t source : dbc_sources) { + emit msgUpdated({.source = source, .address = id.address}); + } +} + +void DBCManager::removeMsg(const MessageId &id) { + auto sources_dbc_file = findDBCFile(id); + assert(sources_dbc_file); // This should be impossible + auto [dbc_sources, dbc_file] = *sources_dbc_file; + + dbc_file->removeMsg(id); + + for (uint8_t source : dbc_sources) { + emit msgRemoved({.source = source, .address = id.address}); + } +} + +QString DBCManager::newMsgName(const MessageId &id) { + auto sources_dbc_file = findDBCFile(id); + assert(sources_dbc_file); // This should be impossible + auto [_, dbc_file] = *sources_dbc_file; + return dbc_file->newMsgName(id); +} + +QString DBCManager::newSignalName(const MessageId &id) { + auto sources_dbc_file = findDBCFile(id); + assert(sources_dbc_file); // This should be impossible + auto [_, dbc_file] = *sources_dbc_file; + return dbc_file->newSignalName(id); +} + +const QList& DBCManager::mask(const MessageId &id) const { + auto sources_dbc_file = findDBCFile(id); + if (!sources_dbc_file) { + return empty_mask; + } + auto [_, dbc_file] = *sources_dbc_file; + return dbc_file->mask(id); +} + +std::map DBCManager::getMessages(uint8_t source) { + std::map ret; + + auto sources_dbc_file = findDBCFile({.source = source, .address = 0}); + if (!sources_dbc_file) { + return ret; + } + + auto [_, dbc_file] = *sources_dbc_file; + + for (auto &[address, msg] : dbc_file->getMessages()) { + MessageId id = {.source = source, .address = address}; + ret[id] = msg; + } + return ret; +} + +const cabana::Msg *DBCManager::msg(const MessageId &id) const { + auto sources_dbc_file = findDBCFile(id); + if (!sources_dbc_file) { + return nullptr; + } + auto [_, dbc_file] = *sources_dbc_file; + return dbc_file->msg(id); +} + +const cabana::Msg* DBCManager::msg(uint8_t source, const QString &name) { + auto sources_dbc_file = findDBCFile({.source = source, .address = 0}); + if (!sources_dbc_file) { + return nullptr; + } + auto [_, dbc_file] = *sources_dbc_file; + return dbc_file->msg(name); +} + +QStringList DBCManager::signalNames() const { + QStringList ret; + + for (auto &[_, dbc_file] : dbc_files) { + ret << dbc_file->signalNames(); + } + + ret.sort(); + ret.removeDuplicates(); + return ret; +} + +int DBCManager::signalCount(const MessageId &id) const { + auto sources_dbc_file = findDBCFile(id); + if (!sources_dbc_file) { + return 0; + } + + auto [_, dbc_file] = *sources_dbc_file; + return dbc_file->signalCount(id); +} + +int DBCManager::signalCount() const { + int ret = 0; + + for (auto &[_, dbc_file] : dbc_files) { + ret += dbc_file->signalCount(); + } + + return ret; +} + +int DBCManager::msgCount() const { + int ret = 0; + + for (auto &[_, dbc_file] : dbc_files) { + ret += dbc_file->msgCount(); + } + + return ret; +} + +int DBCManager::dbcCount() const { + return dbc_files.size(); +} + +int DBCManager::nonEmptyDBCCount() const { + return std::count_if(dbc_files.cbegin(), dbc_files.cend(), [](auto &f) { return !f.second->isEmpty(); }); +} + +void DBCManager::updateSources(const SourceSet &s) { + sources = s; +} + +std::optional> DBCManager::findDBCFile(const uint8_t source) const { + // Find DBC file that matches id.source, fall back to SOURCE_ALL if no specific DBC is found + + for (auto &[source_set, dbc_file] : dbc_files) { + if (source_set.contains(source)) return {{source_set, dbc_file}}; + } + for (auto &[source_set, dbc_file] : dbc_files) { + if (source_set == SOURCE_ALL) return {{sources, dbc_file}}; + } + return {}; +} + +std::optional> DBCManager::findDBCFile(const MessageId &id) const { + return findDBCFile(id.source); +} + +DBCManager *dbc() { + static DBCManager dbc_manager(nullptr); + return &dbc_manager; +} diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h new file mode 100644 index 0000000000..ba590ee56e --- /dev/null +++ b/tools/cabana/dbc/dbcmanager.h @@ -0,0 +1,95 @@ +#pragma once + +#include +#include + +#include +#include +#include +#include +#include + +#include "tools/cabana/dbc/dbc.h" +#include "tools/cabana/dbc/dbcfile.h" + +typedef QSet SourceSet; +const SourceSet SOURCE_ALL = {}; +const int INVALID_SOURCE = 0xff; + +class DBCManager : public QObject { + Q_OBJECT + +public: + DBCManager(QObject *parent) {} + ~DBCManager() {} + bool open(SourceSet s, const QString &dbc_file_name, QString *error = nullptr); + bool open(SourceSet s, const QString &name, const QString &content, QString *error = nullptr); + void close(SourceSet s); + void close(DBCFile *dbc_file); + void closeAll(); + void removeSourcesFromFile(DBCFile *dbc_file, SourceSet s); + + void addSignal(const MessageId &id, const cabana::Signal &sig); + void updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig); + void removeSignal(const MessageId &id, const QString &sig_name); + + void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment); + void removeMsg(const MessageId &id); + + QString newMsgName(const MessageId &id); + QString newSignalName(const MessageId &id); + + const QList& mask(const MessageId &id) const; + + std::map getMessages(uint8_t source); + const cabana::Msg *msg(const MessageId &id) const; + const cabana::Msg* msg(uint8_t source, const QString &name); + + QStringList signalNames() const; + int signalCount(const MessageId &id) const; + int signalCount() const; + int msgCount() const; + int dbcCount() const; + int nonEmptyDBCCount() const; + + std::optional> findDBCFile(const uint8_t source) const; + std::optional> findDBCFile(const MessageId &id) const; + + QList> dbc_files; + +private: + SourceSet sources; + QList empty_mask; + +public slots: + void updateSources(const SourceSet &s); + +signals: + void signalAdded(MessageId id, const cabana::Signal *sig); + void signalRemoved(const cabana::Signal *sig); + void signalUpdated(const cabana::Signal *sig); + void msgUpdated(MessageId id); + void msgRemoved(MessageId id); + void DBCFileChanged(); +}; + +DBCManager *dbc(); + +inline QString msgName(const MessageId &id) { + auto msg = dbc()->msg(id); + return msg ? msg->name : UNTITLED; +} + +inline QString toString(SourceSet ss) { + if (ss == SOURCE_ALL) { + return "all"; + } else { + QStringList ret; + QList source_list = ss.values(); + std::sort(source_list.begin(), source_list.end()); + for (auto s : source_list) { + ret << QString::number(s); + } + return ret.join(", "); + } +} diff --git a/tools/cabana/generate_dbc_json.py b/tools/cabana/dbc/generate_dbc_json.py similarity index 100% rename from tools/cabana/generate_dbc_json.py rename to tools/cabana/dbc/generate_dbc_json.py diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc deleted file mode 100644 index 27f16c71e5..0000000000 --- a/tools/cabana/dbcmanager.cc +++ /dev/null @@ -1,186 +0,0 @@ -#include "tools/cabana/dbcmanager.h" - -#include -#include -#include - -uint qHash(const MessageId &item) { - return qHash(item.source) ^ qHash(item.address); -} - -DBCManager::DBCManager(QObject *parent) : QObject(parent) {} - -DBCManager::~DBCManager() {} - -void DBCManager::open(const QString &dbc_file_name) { - dbc = const_cast(dbc_lookup(dbc_file_name.toStdString())); - initMsgMap(); -} - -bool DBCManager::open(const QString &name, const QString &content, QString *error) { - try { - std::istringstream stream(content.toStdString()); - dbc = const_cast(dbc_parse_from_stream(name.toStdString(), stream)); - initMsgMap(); - return true; - } catch (std::exception &e) { - if (error) *error = e.what(); - } - return false; -} - -void DBCManager::initMsgMap() { - msgs.clear(); - for (auto &msg : dbc->msgs) { - auto &m = msgs[msg.address]; - m.name = msg.name.c_str(); - m.size = msg.size; - for (auto &s : msg.sigs) - m.sigs[QString::fromStdString(s.name)] = s; - } - emit DBCFileChanged(); -} - -QString DBCManager::generateDBC() { - QString dbc_string; - for (auto &[address, m] : msgs) { - dbc_string += QString("BO_ %1 %2: %3 XXX\n").arg(address).arg(m.name).arg(m.size); - for (auto &[name, sig] : m.sigs) { - dbc_string += QString(" SG_ %1 : %2|%3@%4%5 (%6,%7) [0|0] \"\" XXX\n") - .arg(name) - .arg(sig.start_bit) - .arg(sig.size) - .arg(sig.is_little_endian ? '1' : '0') - .arg(sig.is_signed ? '-' : '+') - .arg(sig.factor, 0, 'g', std::numeric_limits::digits10) - .arg(sig.offset, 0, 'g', std::numeric_limits::digits10); - } - dbc_string += "\n"; - } - return dbc_string; -} - -void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size) { - auto &m = msgs[id.address]; - m.name = name; - m.size = size; - emit msgUpdated(id.address); -} - -void DBCManager::removeMsg(const MessageId &id) { - msgs.erase(id.address); - emit msgRemoved(id.address); -} - -void DBCManager::addSignal(const MessageId &id, const Signal &sig) { - if (auto m = const_cast(msg(id.address))) { - auto &s = m->sigs[sig.name.c_str()]; - s = sig; - emit signalAdded(id.address, &s); - } -} - -void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, const Signal &sig) { - if (auto m = const_cast(msg(id))) { - // change key name - QString new_name = QString::fromStdString(sig.name); - auto node = m->sigs.extract(sig_name); - node.key() = new_name; - auto it = m->sigs.insert(std::move(node)); - auto &s = m->sigs[new_name]; - s = sig; - emit signalUpdated(&s); - } -} - -void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) { - if (auto m = const_cast(msg(id))) { - auto it = m->sigs.find(sig_name); - if (it != m->sigs.end()) { - emit signalRemoved(&(it->second)); - m->sigs.erase(it); - } - } -} - -DBCManager *dbc() { - static DBCManager dbc_manager(nullptr); - return &dbc_manager; -} - -// DBCMsg - -std::vector DBCMsg::getSignals() const { - std::vector ret; - ret.reserve(sigs.size()); - for (auto &[_, sig] : sigs) ret.push_back(&sig); - std::sort(ret.begin(), ret.end(), [](auto l, auto r) { return l->start_bit < r->start_bit; }); - return ret; -} - -// helper functions - -static QVector BIG_ENDIAN_START_BITS = []() { - QVector ret; - for (int i = 0; i < 64; i++) - for (int j = 7; j >= 0; j--) - ret.push_back(j + i * 8); - return ret; -}(); - -int bigEndianStartBitsIndex(int start_bit) { - return BIG_ENDIAN_START_BITS[start_bit]; -} - -int bigEndianBitIndex(int index) { - return BIG_ENDIAN_START_BITS.indexOf(index); -} - -double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig) { - int64_t val = 0; - - int i = sig.msb / 8; - int bits = sig.size; - while (i >= 0 && i < data_size && bits > 0) { - int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8; - int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1; - int size = msb - lsb + 1; - - uint64_t d = (data[i] >> (lsb - (i * 8))) & ((1ULL << size) - 1); - val |= d << (bits - size); - - bits -= size; - i = sig.is_little_endian ? i - 1 : i + 1; - } - if (sig.is_signed) { - val -= ((val >> (sig.size - 1)) & 0x1) ? (1ULL << sig.size) : 0; - } - double value = val * sig.factor + sig.offset; - return value; -} - -void updateSigSizeParamsFromRange(Signal &s, int start_bit, int size) { - s.start_bit = s.is_little_endian ? start_bit : bigEndianBitIndex(start_bit); - s.size = size; - if (s.is_little_endian) { - s.lsb = s.start_bit; - s.msb = s.start_bit + s.size - 1; - } else { - s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); - s.msb = s.start_bit; - } -} - -std::pair getSignalRange(const Signal *s) { - int from = s->is_little_endian ? s->start_bit : bigEndianBitIndex(s->start_bit); - int to = from + s->size - 1; - return {from, to}; -} - -bool operator==(const Signal &l, const Signal &r) { - return l.name == r.name && l.size == r.size && - l.start_bit == r.start_bit && - l.msb == r.msb && l.lsb == r.lsb && - l.is_signed == r.is_signed && l.is_little_endian == r.is_little_endian && - l.factor == r.factor && l.offset == r.offset; -} diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h deleted file mode 100644 index b766c837b6..0000000000 --- a/tools/cabana/dbcmanager.h +++ /dev/null @@ -1,99 +0,0 @@ -#pragma once - -#include -#include -#include -#include "opendbc/can/common_dbc.h" - -struct MessageId { - uint8_t source; - uint32_t address; - - QString toString() const { - return QString("%1:%2").arg(source).arg(address, 1, 16); - } - - bool operator==(const MessageId &other) const { - return source == other.source && address == other.address; - } - - bool operator!=(const MessageId &other) const { - return !(*this == other); - } - - bool operator<(const MessageId &other) const { - return std::pair{source, address} < std::pair{other.source, other.address}; - } - - bool operator>(const MessageId &other) const { - return std::pair{source, address} > std::pair{other.source, other.address}; - } -}; - -Q_DECLARE_METATYPE(MessageId); - -uint qHash(const MessageId &item); - -struct DBCMsg { - QString name; - uint32_t size; - // signal must be saved as value in map to make undo stack work properly. - std::map sigs; - // return vector, sort by start_bits - std::vector getSignals() const; -}; - -class DBCManager : public QObject { - Q_OBJECT - -public: - DBCManager(QObject *parent); - ~DBCManager(); - - void open(const QString &dbc_file_name); - bool open(const QString &name, const QString &content, QString *error = nullptr); - QString generateDBC(); - void addSignal(const MessageId &id, const Signal &sig); - void updateSignal(const MessageId &id, const QString &sig_name, const Signal &sig); - void removeSignal(const MessageId &id, const QString &sig_name); - - inline static std::vector allDBCNames() { return get_dbc_names(); } - inline QString name() const { return dbc ? dbc->name.c_str() : ""; } - void updateMsg(const MessageId &id, const QString &name, uint32_t size); - void removeMsg(const MessageId &id); - inline const std::map &messages() const { return msgs; } - inline const DBCMsg *msg(const MessageId &id) const { return msg(id.address); } - inline const DBCMsg *msg(uint32_t address) const { - auto it = msgs.find(address); - return it != msgs.end() ? &it->second : nullptr; - } - -signals: - void signalAdded(uint32_t address, const Signal *sig); - void signalRemoved(const Signal *sig); - void signalUpdated(const Signal *sig); - void msgUpdated(uint32_t address); - void msgRemoved(uint32_t address); - void DBCFileChanged(); - -private: - void initMsgMap(); - DBC *dbc = nullptr; - std::map msgs; -}; - -const QString UNTITLED = "untitled"; - -// TODO: Add helper function in dbc.h -double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig); -bool operator==(const Signal &l, const Signal &r); -inline bool operator!=(const Signal &l, const Signal &r) { return !(l == r); } -int bigEndianStartBitsIndex(int start_bit); -int bigEndianBitIndex(int index); -void updateSigSizeParamsFromRange(Signal &s, int start_bit, int size); -std::pair getSignalRange(const Signal *s); -DBCManager *dbc(); -inline QString msgName(const MessageId &id) { - auto msg = dbc()->msg(id); - return msg ? msg->name : UNTITLED; -} diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 95ef975dd1..92851761f9 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -3,44 +3,40 @@ #include #include #include -#include #include "tools/cabana/commands.h" -#include "tools/cabana/dbcmanager.h" -#include "tools/cabana/streams/abstractstream.h" +#include "tools/cabana/mainwin.h" // DetailWidget DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) { - QWidget *main_widget = new QWidget(this); - QVBoxLayout *main_layout = new QVBoxLayout(main_widget); + QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); // tabbar - tabbar = new QTabBar(this); - tabbar->setTabsClosable(true); + tabbar = new TabBar(this); tabbar->setUsesScrollButtons(true); tabbar->setAutoHide(true); tabbar->setContextMenuPolicy(Qt::CustomContextMenu); main_layout->addWidget(tabbar); // message title - QToolBar *toolbar = new QToolBar(this); - toolbar->setIconSize({16, 16}); - toolbar->addWidget(new QLabel("time:")); + QHBoxLayout *title_layout = new QHBoxLayout(); + title_layout->setContentsMargins(3, 6, 3, 0); time_label = new QLabel(this); - time_label->setStyleSheet("font-weight:bold"); - toolbar->addWidget(time_label); + time_label->setToolTip(tr("Current time")); + time_label->setStyleSheet("QLabel{font-weight:bold;}"); + title_layout->addWidget(time_label); name_label = new ElidedLabel(this); - name_label->setContentsMargins(5, 0, 5, 0); - name_label->setStyleSheet("font-weight:bold;"); + name_label->setStyleSheet("QLabel{font-weight:bold;}"); name_label->setAlignment(Qt::AlignCenter); name_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); - toolbar->addWidget(name_label); - toolbar->addAction(utils::icon("pencil"), "", this, &DetailWidget::editMsg)->setToolTip(tr("Edit Message")); - remove_msg_act = toolbar->addAction(utils::icon("x-lg"), "", this, &DetailWidget::removeMsg); - remove_msg_act->setToolTip(tr("Remove Message")); - main_layout->addWidget(toolbar); + title_layout->addWidget(name_label); + auto edit_btn = new ToolButton("pencil", tr("Edit Message")); + title_layout->addWidget(edit_btn); + remove_btn = new ToolButton("x-lg", tr("Remove Message")); + title_layout->addWidget(remove_btn); + main_layout->addLayout(title_layout); // warning warning_widget = new QWidget(this); @@ -52,7 +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); @@ -61,19 +56,18 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart splitter->setStretchFactor(1, 1); tab_widget = new QTabWidget(this); + tab_widget->setStyleSheet("QTabWidget::pane {border: none; margin-bottom: -2px;}"); tab_widget->setTabPosition(QTabWidget::South); tab_widget->addTab(splitter, utils::icon("file-earmark-ruled"), "&Msg"); tab_widget->addTab(history_log = new LogsWidget(this), utils::icon("stopwatch"), "&Logs"); main_layout->addWidget(tab_widget); - stacked_layout = new QStackedLayout(this); - stacked_layout->addWidget(new WelcomeWidget(this)); - stacked_layout->addWidget(main_widget); - + QObject::connect(edit_btn, &QToolButton::clicked, this, &DetailWidget::editMsg); + QObject::connect(remove_btn, &QToolButton::clicked, this, &DetailWidget::removeMsg); QObject::connect(binary_view, &BinaryView::resizeSignal, signal_view->model, &SignalModel::resizeSignal); QObject::connect(binary_view, &BinaryView::addSignal, signal_view->model, &SignalModel::addSignal); QObject::connect(binary_view, &BinaryView::signalHovered, signal_view, &SignalView::signalHovered); - QObject::connect(binary_view, &BinaryView::signalClicked, signal_view, &SignalView::expandSignal); + QObject::connect(binary_view, &BinaryView::signalClicked, [this](const cabana::Signal *s) { signal_view->selectSignal(s, true); }); QObject::connect(binary_view, &BinaryView::editSignal, signal_view->model, &SignalModel::saveSignal); QObject::connect(binary_view, &BinaryView::removeSignal, signal_view->model, &SignalModel::removeSignal); QObject::connect(binary_view, &BinaryView::showChart, charts, &ChartsWidget::showChart); @@ -86,14 +80,10 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart QObject::connect(tabbar, &QTabBar::customContextMenuRequested, this, &DetailWidget::showTabBarContextMenu); QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) { if (index != -1) { - setMessage(tabbar_ids[index]); + setMessage(tabbar->tabData(index).value()); } }); - QObject::connect(tabbar, &QTabBar::tabCloseRequested, [this](int index) { - tabbar_ids.removeAt(index); - tabbar->removeTab(index); - assert(tabbar_ids.size() == tabbar->count()); - }); + QObject::connect(tabbar, &QTabBar::tabCloseRequested, tabbar, &QTabBar::removeTab); QObject::connect(charts, &ChartsWidget::seriesChanged, signal_view, &SignalView::updateChartState); } @@ -103,71 +93,56 @@ void DetailWidget::showTabBarContextMenu(const QPoint &pt) { QMenu menu(this); menu.addAction(tr("Close Other Tabs")); if (menu.exec(tabbar->mapToGlobal(pt))) { - tabbar_ids.move(index, 0); tabbar->moveTab(index, 0); tabbar->setCurrentIndex(0); while (tabbar->count() > 1) { - tabbar_ids.removeAt(1); tabbar->removeTab(1); } - assert(tabbar_ids.size() == tabbar->count()); } } } -void DetailWidget::removeAll() { - msg_id = std::nullopt; - tabbar->blockSignals(true); - while (tabbar->count() > 0) { - tabbar->removeTab(0); - } - tabbar_ids.clear(); - tabbar->blockSignals(false); - stacked_layout->setCurrentIndex(0); -} - void DetailWidget::setMessage(const MessageId &message_id) { - msg_id = message_id; - int index = tabbar_ids.indexOf(*msg_id); + if (std::exchange(msg_id, message_id) == message_id) return; + tabbar->blockSignals(true); + int index = tabbar->count() - 1; + for (/**/; index >= 0; --index) { + if (tabbar->tabData(index).value() == message_id) break; + } if (index == -1) { - tabbar_ids.append(*msg_id); index = tabbar->addTab(message_id.toString()); + tabbar->setTabData(index, QVariant::fromValue(message_id)); tabbar->setTabToolTip(index, msgName(message_id)); } - assert(tabbar->count() == tabbar_ids.size()); + tabbar->setCurrentIndex(index); + tabbar->blockSignals(false); setUpdatesEnabled(false); - - signal_view->setMessage(*msg_id); - binary_view->setMessage(*msg_id); - history_log->setMessage(*msg_id); - - stacked_layout->setCurrentIndex(1); - tabbar->setCurrentIndex(index); + signal_view->setMessage(msg_id); + binary_view->setMessage(msg_id); + history_log->setMessage(msg_id); refresh(); - splitter->setSizes({1, 2}); - setUpdatesEnabled(true); } void DetailWidget::refresh() { - if (!msg_id) return; - QStringList warnings; - const DBCMsg *msg = dbc()->msg(*msg_id); + auto msg = dbc()->msg(msg_id); if (msg) { - if (msg->size != can->lastMessage(*msg_id).dat.size()) { + if (msg_id.source == INVALID_SOURCE) { + warnings.push_back(tr("No messages received.")); + } else if (msg->size != can->lastMessage(msg_id).dat.size()) { warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size)); } for (auto s : binary_view->getOverlappingSignals()) { - warnings.push_back(tr("%1 has overlapping bits.").arg(s->name.c_str())); + warnings.push_back(tr("%1 has overlapping bits.").arg(s->name)); } } else { warnings.push_back(tr("Drag-Select in binary view to create new signal.")); } - remove_msg_act->setEnabled(msg != nullptr); - name_label->setText(msgName(*msg_id)); + remove_btn->setEnabled(msg != nullptr); + name_label->setText(msgName(msg_id)); if (!warnings.isEmpty()) { warning_label->setText(warnings.join('\n')); @@ -178,7 +153,7 @@ void DetailWidget::refresh() { void DetailWidget::updateState(const QHash *msgs) { time_label->setText(QString::number(can->currentSec(), 'f', 3)); - if (!msg_id || (msgs && !msgs->contains(*msg_id))) + if ((msgs && !msgs->contains(msg_id))) return; if (tab_widget->currentIndex() == 0) @@ -188,23 +163,22 @@ void DetailWidget::updateState(const QHash *msgs) { } void DetailWidget::editMsg() { - MessageId id = *msg_id; - auto msg = dbc()->msg(id); - int size = msg ? msg->size : can->lastMessage(id).dat.size(); - EditMessageDialog dlg(id, msgName(id), size, this); + auto msg = dbc()->msg(msg_id); + int size = msg ? msg->size : can->lastMessage(msg_id).dat.size(); + EditMessageDialog dlg(msg_id, msgName(msg_id), size, this); if (dlg.exec()) { - UndoStack::push(new EditMsgCommand(*msg_id, dlg.name_edit->text(), dlg.size_spin->value())); + UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(), dlg.size_spin->value(), dlg.comment_edit->toPlainText().trimmed())); } } void DetailWidget::removeMsg() { - UndoStack::push(new RemoveMsgCommand(*msg_id)); + UndoStack::push(new RemoveMsgCommand(msg_id)); } // EditMessageDialog EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent) - : original_name(title), QDialog(parent) { + : original_name(title), msg_id(msg_id), QDialog(parent) { setWindowTitle(tr("Edit message: %1").arg(msg_id.toString())); QFormLayout *form_layout = new QFormLayout(this); @@ -220,8 +194,13 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit size_spin->setValue(size); form_layout->addRow(tr("Size"), size_spin); + form_layout->addRow(tr("Comment"), comment_edit = new QTextEdit(this)); + if (auto msg = dbc()->msg(msg_id)) { + comment_edit->setText(msg->comment); + } + btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); - btn_box->button(QDialogButtonBox::Ok)->setEnabled(false); + validateName(name_edit->text()); form_layout->addRow(btn_box); setFixedWidth(parent->width() * 0.9); @@ -231,11 +210,10 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit } void EditMessageDialog::validateName(const QString &text) { - bool valid = false; + bool valid = text.compare(UNTITLED, Qt::CaseInsensitive) != 0; error_label->setVisible(false); - if (!text.isEmpty() && text != original_name && text.compare(UNTITLED, Qt::CaseInsensitive) != 0) { - valid = std::none_of(dbc()->messages().begin(), dbc()->messages().end(), - [&text](auto &m) { return m.second.name == text; }); + if (!text.isEmpty() && valid && text != original_name) { + valid = dbc()->msg(msg_id.source, text) == nullptr; if (!valid) { error_label->setText(tr("Name already exists")); error_label->setVisible(true); @@ -244,10 +222,34 @@ void EditMessageDialog::validateName(const QString &text) { btn_box->button(QDialogButtonBox::Ok)->setEnabled(valid); } -// WelcomeWidget +// CenterWidget -WelcomeWidget::WelcomeWidget(QWidget *parent) : QWidget(parent) { +CenterWidget::CenterWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + main_layout->addWidget(welcome_widget = createWelcomeWidget()); +} + +void CenterWidget::setMessage(const MessageId &msg_id) { + if (!detail_widget) { + delete welcome_widget; + welcome_widget = nullptr; + layout()->addWidget(detail_widget = new DetailWidget(((MainWindow*)parentWidget())->charts_widget, this)); + } + detail_widget->setMessage(msg_id); +} + +void CenterWidget::clear() { + delete detail_widget; + detail_widget = nullptr; + if (!welcome_widget) { + layout()->addWidget(welcome_widget = createWelcomeWidget()); + } +} + +QWidget *CenterWidget::createWelcomeWidget() { + QWidget *w = new QWidget(this); + QVBoxLayout *main_layout = new QVBoxLayout(w); main_layout->addStretch(0); QLabel *logo = new QLabel("CABANA"); logo->setAlignment(Qt::AlignCenter); @@ -272,7 +274,8 @@ WelcomeWidget::WelcomeWidget(QWidget *parent) : QWidget(parent) { main_layout->addLayout(newShortcutRow("WhatsThis", "Shift+F1")); main_layout->addStretch(0); - setStyleSheet("QLabel{color:darkGray;}"); - setBackgroundRole(QPalette::Base); - setAutoFillBackground(true); + w->setStyleSheet("QLabel{color:darkGray;}"); + w->setBackgroundRole(QPalette::Base); + w->setAutoFillBackground(true); + return w; } diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 949a8c9b8d..10c6a6c46e 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -2,33 +2,30 @@ #include #include -#include #include -#include +#include #include "selfdrive/ui/qt/widgets/controls.h" #include "tools/cabana/binaryview.h" -#include "tools/cabana/chartswidget.h" +#include "tools/cabana/chart/chartswidget.h" #include "tools/cabana/historylog.h" -#include "tools/cabana/signaledit.h" +#include "tools/cabana/signalview.h" +class MainWindow; class EditMessageDialog : public QDialog { public: EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent); void validateName(const QString &text); + MessageId msg_id; QString original_name; QDialogButtonBox *btn_box; QLineEdit *name_edit; + QTextEdit *comment_edit; QLabel *error_label; QSpinBox *size_spin; }; -class WelcomeWidget : public QWidget { -public: - WelcomeWidget(QWidget *parent); -}; - class DetailWidget : public QWidget { Q_OBJECT @@ -36,8 +33,6 @@ public: DetailWidget(ChartsWidget *charts, QWidget *parent); void setMessage(const MessageId &message_id); void refresh(); - void removeAll(); - QSize minimumSizeHint() const override { return binary_view->minimumSizeHint(); } private: void showTabBarContextMenu(const QPoint &pt); @@ -45,18 +40,29 @@ private: void removeMsg(); void updateState(const QHash * msgs = nullptr); - std::optional msg_id; + MessageId msg_id; QLabel *time_label, *warning_icon, *warning_label; ElidedLabel *name_label; QWidget *warning_widget; - QTabBar *tabbar; - QList tabbar_ids; + TabBar *tabbar; QTabWidget *tab_widget; - QAction *remove_msg_act; + QToolButton *remove_btn; LogsWidget *history_log; BinaryView *binary_view; SignalView *signal_view; ChartsWidget *charts; QSplitter *splitter; - QStackedLayout *stacked_layout; +}; + +class CenterWidget : public QWidget { + Q_OBJECT +public: + CenterWidget(QWidget *parent); + void setMessage(const MessageId &msg_id); + void clear(); + +private: + QWidget *createWelcomeWidget(); + DetailWidget *detail_widget = nullptr; + QWidget *welcome_widget = nullptr; }; diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 87968d495c..13e8f70a8f 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -5,7 +5,6 @@ #include #include "tools/cabana/commands.h" - // HistoryLogModel QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { @@ -15,9 +14,14 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { if (index.column() == 0) { return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 2); } - return show_signals ? QString::number(m.sig_values[index.column() - 1]) : toHex(m.data); - } else if (role == Qt::UserRole && index.column() == 1 && !show_signals) { + int i = index.column() - 1; + return show_signals ? QString::number(m.sig_values[i], 'f', sigs[i]->precision) : toHex(m.data); + } else if (role == ColorsRole) { return QVariant::fromValue(m.colors); + } else if (role == BytesRole) { + return m.data; + } else if (role == Qt::TextAlignmentRole) { + return (uint32_t)(Qt::AlignRight | Qt::AlignVCenter); } return {}; } @@ -26,17 +30,19 @@ void HistoryLogModel::setMessage(const MessageId &message_id) { msg_id = message_id; } -void HistoryLogModel::refresh() { +void HistoryLogModel::refresh(bool fetch_message) { beginResetModel(); sigs.clear(); - if (auto dbc_msg = dbc()->msg(*msg_id)) { + if (auto dbc_msg = dbc()->msg(msg_id)) { sigs = dbc_msg->getSignals(); } last_fetch_time = 0; has_more_data = true; messages.clear(); - hex_colors.clear(); - updateState(); + hex_colors = {}; + if (fetch_message) { + updateState(); + } endResetModel(); } @@ -47,7 +53,15 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i if (section == 0) { return "Time"; } - return show_signals ? QString::fromStdString(sigs[section - 1]->name).replace('_', ' ') : "Data"; + if (show_signals) { + QString name = sigs[section - 1]->name; + if (!sigs[section - 1]->unit.isEmpty()) { + name += QString(" (%1)").arg(sigs[section - 1]->unit); + } + return name; + } else { + return "Data"; + } } else if (role == Qt::BackgroundRole && section > 0 && show_signals) { return QBrush(getColor(sigs[section - 1])); } @@ -78,17 +92,15 @@ void HistoryLogModel::setFilter(int sig_idx, const QString &value, std::function } void HistoryLogModel::updateState() { - if (msg_id) { - uint64_t current_time = (can->lastMessage(*msg_id).ts + can->routeStartTime()) * 1e9 + 1; - auto new_msgs = dynamic_mode ? fetchData(current_time, last_fetch_time) : fetchData(0); - if (!new_msgs.empty()) { - beginInsertRows({}, 0, new_msgs.size() - 1); - messages.insert(messages.begin(), std::move_iterator(new_msgs.begin()), std::move_iterator(new_msgs.end())); - endInsertRows(); - } - has_more_data = new_msgs.size() >= batch_size; - last_fetch_time = current_time; + uint64_t current_time = (can->lastMessage(msg_id).ts + can->routeStartTime()) * 1e9 + 1; + auto new_msgs = dynamic_mode ? fetchData(current_time, last_fetch_time) : fetchData(0); + if (!new_msgs.empty()) { + beginInsertRows({}, 0, new_msgs.size() - 1); + messages.insert(messages.begin(), std::move_iterator(new_msgs.begin()), std::move_iterator(new_msgs.end())); + endInsertRows(); } + has_more_data = new_msgs.size() >= batch_size; + last_fetch_time = current_time; } void HistoryLogModel::fetchMore(const QModelIndex &parent) { @@ -107,54 +119,52 @@ template std::deque HistoryLogModel::fetchData(InputIt first, InputIt last, uint64_t min_time) { std::deque msgs; QVector values(sigs.size()); - for (auto it = first; it != last && (*it)->mono_time > min_time; ++it) { - if ((*it)->which == cereal::Event::Which::CAN) { - for (const auto &c : (*it)->event.getCan()) { - if (msg_id->address == c.getAddress() && msg_id->source == c.getSrc()) { - const auto dat = c.getDat(); - for (int i = 0; i < sigs.size(); ++i) { - values[i] = get_raw_value((uint8_t *)dat.begin(), dat.size(), *(sigs[i])); - } - if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) { - auto &m = msgs.emplace_back(); - m.mono_time = (*it)->mono_time; - m.data = QByteArray((char *)dat.begin(), dat.size()); - m.sig_values = values; - if (msgs.size() >= batch_size && min_time == 0) - return msgs; - } - } + for (; first != last && (*first)->mono_time > min_time; ++first) { + const CanEvent *e = *first; + for (int i = 0; i < sigs.size(); ++i) { + values[i] = get_raw_value(e->dat, e->size, *sigs[i]); + } + if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) { + auto &m = msgs.emplace_back(); + m.mono_time = e->mono_time; + m.data = QByteArray((const char *)e->dat, e->size); + m.sig_values = values; + if (msgs.size() >= batch_size && min_time == 0) { + return msgs; } } } return msgs; } -template std::deque HistoryLogModel::fetchData<>(std::vector::iterator first, std::vector::iterator last, uint64_t min_time); -template std::deque HistoryLogModel::fetchData<>(std::vector::reverse_iterator first, std::vector::reverse_iterator last, uint64_t min_time); - std::deque HistoryLogModel::fetchData(uint64_t from_time, uint64_t min_time) { - auto events = can->events(); - const auto freq = can->lastMessage(*msg_id).freq; + const QList mask; + const auto &events = can->events(msg_id); + const auto freq = can->lastMessage(msg_id).freq; const bool update_colors = !display_signals_mode || sigs.empty(); + const auto speed = can->getSpeed(); if (dynamic_mode) { - auto first = std::upper_bound(events->rbegin(), events->rend(), from_time, [=](uint64_t ts, auto &e) { return e->mono_time < ts; }); - auto msgs = fetchData(first, events->rend(), min_time); + auto first = std::upper_bound(events.rbegin(), events.rend(), from_time, [](uint64_t ts, auto e) { + return ts > e->mono_time; + }); + auto msgs = fetchData(first, events.rend(), min_time); if (update_colors && (min_time > 0 || messages.empty())) { for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) { - hex_colors.compute(it->data, it->mono_time / (double)1e9, freq); + hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, mask, freq); it->colors = hex_colors.colors; } } return msgs; } else { assert(min_time == 0); - auto first = std::upper_bound(events->begin(), events->end(), from_time, [=](uint64_t ts, auto &e) { return ts < e->mono_time; }); - auto msgs = fetchData(first, events->end(), 0); + auto first = std::upper_bound(events.cbegin(), events.cend(), from_time, [](uint64_t ts, auto e) { + return ts < e->mono_time; + }); + auto msgs = fetchData(first, events.cend(), 0); if (update_colors) { - for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) { - hex_colors.compute(it->data, it->mono_time / (double)1e9, freq); + for (auto it = msgs.begin(); it != msgs.end(); ++it) { + hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, mask, freq); it->colors = hex_colors.colors; } } @@ -170,8 +180,8 @@ QSize HeaderView::sectionSizeFromContents(int logicalIndex) const { return time_col_size; } else { int default_size = qMax(100, (rect().width() - time_col_size.width()) / (model()->columnCount() - 1)); - const QString text = model()->headerData(logicalIndex, this->orientation(), Qt::DisplayRole).toString(); - const QRect rect = fontMetrics().boundingRect({0, 0, default_size, 2000}, defaultAlignment(), text); + QString text = model()->headerData(logicalIndex, this->orientation(), Qt::DisplayRole).toString(); + const QRect rect = fontMetrics().boundingRect({0, 0, default_size, 2000}, defaultAlignment(), text.replace(QChar('_'), ' ')); QSize size = rect.size() + QSize{10, 6}; return QSize{qMax(size.width(), default_size), size.height()}; } @@ -183,12 +193,14 @@ void HeaderView::paintSection(QPainter *painter, const QRect &rect, int logicalI painter->fillRect(rect, bg_role.value()); } QString text = model()->headerData(logicalIndex, Qt::Horizontal, Qt::DisplayRole).toString(); - painter->drawText(rect.adjusted(5, 3, -5, -3), defaultAlignment(), text); + painter->setPen(palette().color(settings.theme == DARK_THEME ? QPalette::BrightText : QPalette::Text)); + painter->drawText(rect.adjusted(5, 3, -5, -3), defaultAlignment(), text.replace(QChar('_'), ' ')); } // LogsWidget -LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) { +LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) { + setFrameStyle(QFrame::StyledPanel | QFrame::Plain); QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); main_layout->setSpacing(0); @@ -208,7 +220,8 @@ LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) { h->addStretch(0); h->addWidget(dynamic_mode = new QCheckBox(tr("Dynamic")), 0, Qt::AlignRight); - display_type_cb->addItems({"Signal Value", "Hex Value"}); + display_type_cb->addItems({"Signal", "Hex"}); + display_type_cb->setToolTip(tr("Display signal value or raw hex value")); comp_box->addItems({">", "=", "!=", "<"}); value_edit->setClearButtonEnabled(true); value_edit->setValidator(new QDoubleValidator(-500000, 500000, 6, this)); @@ -218,18 +231,21 @@ LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) { main_layout->addWidget(toolbar); QFrame *line = new QFrame(this); line->setFrameStyle(QFrame::HLine | QFrame::Sunken); - main_layout->addWidget(line);; - + main_layout->addWidget(line); main_layout->addWidget(logs = new QTableView(this)); logs->setModel(model = new HistoryLogModel(this)); + delegate = new MessageBytesDelegate(this); logs->setItemDelegateForColumn(1, new MessageBytesDelegate(this)); logs->setHorizontalHeader(new HeaderView(Qt::Horizontal, this)); - logs->horizontalHeader()->setDefaultAlignment(Qt::AlignLeft | (Qt::Alignment)Qt::TextWordWrap); + logs->horizontalHeader()->setDefaultAlignment(Qt::AlignRight | (Qt::Alignment)Qt::TextWordWrap); logs->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents); logs->verticalHeader()->setVisible(false); logs->setFrameShape(QFrame::NoFrame); - QObject::connect(display_type_cb, SIGNAL(activated(int)), model, SLOT(setDisplayType(int))); + QObject::connect(display_type_cb, qOverload(&QComboBox::activated), [this](int index) { + logs->setItemDelegateForColumn(1, index == 1 ? delegate : nullptr); + model->setDisplayType(index); + }); QObject::connect(dynamic_mode, &QCheckBox::stateChanged, model, &HistoryLogModel::setDynamicMode); QObject::connect(signals_cb, SIGNAL(activated(int)), this, SLOT(setFilter())); QObject::connect(comp_box, SIGNAL(activated(int)), this, SLOT(setFilter())); @@ -246,17 +262,16 @@ void LogsWidget::setMessage(const MessageId &message_id) { } void LogsWidget::refresh() { - if (!model->msg_id) return; - model->setFilter(0, "", nullptr); - model->refresh(); + model->refresh(isVisible()); bool has_signal = model->sigs.size(); if (has_signal) { signals_cb->clear(); for (auto s : model->sigs) { - signals_cb->addItem(s->name.c_str()); + signals_cb->addItem(s->name); } } + logs->setItemDelegateForColumn(1, !has_signal || display_type_cb->currentIndex() == 1 ? delegate : nullptr); value_edit->clear(); comp_box->setCurrentIndex(0); filters_widget->setVisible(has_signal); @@ -275,3 +290,15 @@ void LogsWidget::setFilter() { model->setFilter(signals_cb->currentIndex(), value_edit->text(), cmp); model->refresh(); } + +void LogsWidget::updateState() { + if (isVisible() && dynamic_mode->isChecked()) { + model->updateState(); + } +} + +void LogsWidget::showEvent(QShowEvent *event) { + if (dynamic_mode->isChecked() || model->canFetchMore({}) && model->rowCount() == 0) { + model->refresh(); + } +} diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index 00a8f73836..1f8c157f21 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -1,16 +1,15 @@ #pragma once #include -#include - #include #include #include #include #include -#include "tools/cabana/dbcmanager.h" +#include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" +#include "tools/cabana/util.h" class HeaderView : public QHeaderView { public: @@ -35,7 +34,7 @@ public: int columnCount(const QModelIndex &parent = QModelIndex()) const override { return display_signals_mode && !sigs.empty() ? sigs.size() + 1 : 2; } - void refresh(); + void refresh(bool fetch_message = true); public slots: void setDisplayType(int type); @@ -54,8 +53,8 @@ public: std::deque fetchData(InputIt first, InputIt last, uint64_t min_time); std::deque fetchData(uint64_t from_time, uint64_t min_time = 0); - std::optional msg_id; - ChangeTracker hex_colors; + MessageId msg_id; + CanData hex_colors; bool has_more_data = true; const int batch_size = 50; int filter_sig_idx = -1; @@ -63,19 +62,19 @@ public: uint64_t last_fetch_time = 0; std::function filter_cmp = nullptr; std::deque messages; - std::vector sigs; + std::vector sigs; bool dynamic_mode = true; bool display_signals_mode = true; }; -class LogsWidget : public QWidget { +class LogsWidget : public QFrame { Q_OBJECT public: LogsWidget(QWidget *parent); void setMessage(const MessageId &message_id); - void updateState() {if (dynamic_mode->isChecked()) model->updateState(); } - void showEvent(QShowEvent *event) override { if (dynamic_mode->isChecked()) model->refresh(); } + void updateState(); + void showEvent(QShowEvent *event) override; private slots: void setFilter(); @@ -89,4 +88,5 @@ private: QComboBox *signals_cb, *comp_box, *display_type_cb; QLineEdit *value_edit; QWidget *filters_widget; + MessageBytesDelegate *delegate; }; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 07d37df4e4..d3da4a1500 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -6,7 +6,6 @@ #include #include #include -#include #include #include #include @@ -17,7 +16,8 @@ #include #include "tools/cabana/commands.h" -#include "tools/cabana/route.h" +#include "tools/cabana/streamselector.h" +#include "tools/cabana/tools/findsignal.h" static MainWindow *main_win = nullptr; void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) { @@ -27,8 +27,7 @@ void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const MainWindow::MainWindow() : QMainWindow() { createDockWindows(); - detail_widget = new DetailWidget(charts_widget, this); - setCentralWidget(detail_widget); + setCentralWidget(center_widget = new CenterWidget(this)); createActions(); createStatusBar(); createShortcuts(); @@ -39,9 +38,9 @@ MainWindow::MainWindow() : QMainWindow() { setGeometry(QApplication::desktop()->availableGeometry(this)); } restoreState(settings.window_state); - messages_widget->restoreHeaderState(settings.message_header_state); qRegisterMetaType("uint64_t"); + qRegisterMetaType("SourceSet"); qRegisterMetaType("ReplyMsgType"); installMessageHandler([this](ReplyMsgType type, const std::string msg) { // use queued connection to recv the log messages from replay. @@ -53,29 +52,38 @@ MainWindow::MainWindow() : QMainWindow() { main_win = this; qInstallMessageHandler(qLogMessageHandler); - QFile json_file("./car_fingerprint_to_dbc.json"); + + QFile json_file(QApplication::applicationDirPath() + "/dbc/car_fingerprint_to_dbc.json"); if (json_file.open(QIODevice::ReadOnly)) { fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll()); } + setStyleSheet(QString(R"(QMainWindow::separator { + width: %1px; /* when vertical */ + height: %1px; /* when horizontal */ + })").arg(style()->pixelMetric(QStyle::PM_SplitterWidth))); + QObject::connect(this, &MainWindow::showMessage, statusBar(), &QStatusBar::showMessage); QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress); - QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, detail_widget, &DetailWidget::setMessage); - QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); - QObject::connect(can, &AbstractStream::streamStarted, this, &MainWindow::loadDBCFromFingerprint); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged); QObject::connect(UndoStack::instance(), &QUndoStack::cleanChanged, this, &MainWindow::undoStackCleanChanged); + QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MainWindow::undoStackIndexChanged); + QObject::connect(&settings, &Settings::changed, this, &MainWindow::updateStatus); + QObject::connect(StreamNotifier::instance(), &StreamNotifier::changingStream, this, &MainWindow::changingStream); + QObject::connect(StreamNotifier::instance(), &StreamNotifier::streamStarted, this, &MainWindow::streamStarted); } void MainWindow::createActions() { QMenu *file_menu = menuBar()->addMenu(tr("&File")); - if (!can->liveStreaming()) { - file_menu->addAction(tr("Open Route..."), this, &MainWindow::openRoute); - file_menu->addSeparator(); - } + file_menu->addAction(tr("Open Stream..."), this, &MainWindow::openStream); + close_stream_act = file_menu->addAction(tr("Close stream"), this, &MainWindow::closeStream); + close_stream_act->setEnabled(false); + file_menu->addSeparator(); - file_menu->addAction(tr("New DBC File"), this, &MainWindow::newFile)->setShortcuts(QKeySequence::New); - file_menu->addAction(tr("Open DBC File..."), this, &MainWindow::openFile)->setShortcuts(QKeySequence::Open); + file_menu->addAction(tr("New DBC File"), [this]() { newFile(); })->setShortcuts(QKeySequence::New); + file_menu->addAction(tr("Open DBC File..."), [this]() { openFile(); })->setShortcuts(QKeySequence::Open); + + manage_dbcs_menu = file_menu->addMenu(tr("Manage &DBC Files")); open_recent_menu = file_menu->addMenu(tr("Open &Recent")); for (int i = 0; i < MAX_RECENT_FILES; ++i) { @@ -89,18 +97,24 @@ void MainWindow::createActions() { file_menu->addSeparator(); QMenu *load_opendbc_menu = file_menu->addMenu(tr("Load DBC from commaai/opendbc")); // load_opendbc_menu->setStyleSheet("QMenu { menu-scrollable: true; }"); - auto dbc_names = dbc()->allDBCNames(); + auto dbc_names = allDBCNames(); std::sort(dbc_names.begin(), dbc_names.end()); for (const auto &name : dbc_names) { - load_opendbc_menu->addAction(QString::fromStdString(name), this, &MainWindow::openOpendbcFile); + QString dbc_name = QString::fromStdString(name); + load_opendbc_menu->addAction(dbc_name, [=]() { loadDBCFromOpendbc(dbc_name); }); } - file_menu->addAction(tr("Load DBC From Clipboard"), this, &MainWindow::loadDBCFromClipboard); + file_menu->addAction(tr("Load DBC From Clipboard"), [=]() { loadFromClipboard(); }); file_menu->addSeparator(); - file_menu->addAction(tr("Save DBC..."), this, &MainWindow::save)->setShortcuts(QKeySequence::Save); - file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveAs)->setShortcuts(QKeySequence::SaveAs); - file_menu->addAction(tr("Copy DBC To Clipboard"), this, &MainWindow::saveDBCToClipboard); + save_dbc = file_menu->addAction(tr("Save DBC..."), this, &MainWindow::save); + save_dbc->setShortcuts(QKeySequence::Save); + + save_dbc_as = file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveAs); + save_dbc_as->setShortcuts(QKeySequence::SaveAs); + + copy_dbc_to_clipboard = file_menu->addAction(tr("Copy DBC To Clipboard"), this, &MainWindow::saveToClipboard); + file_menu->addSeparator(); file_menu->addAction(tr("Settings..."), this, &MainWindow::setOption)->setShortcuts(QKeySequence::Preferences); @@ -117,14 +131,13 @@ void MainWindow::createActions() { edit_menu->addSeparator(); QMenu *commands_menu = edit_menu->addMenu(tr("Command &List")); - auto undo_view = new QUndoView(UndoStack::instance()); - undo_view->setWindowTitle(tr("Command List")); QWidgetAction *commands_act = new QWidgetAction(this); - commands_act->setDefaultWidget(undo_view); + commands_act->setDefaultWidget(new QUndoView(UndoStack::instance())); commands_menu->addAction(commands_act); - QMenu *tools_menu = menuBar()->addMenu(tr("&Tools")); + tools_menu = menuBar()->addMenu(tr("&Tools")); tools_menu->addAction(tr("Find &Similar Bits"), this, &MainWindow::findSimilarBits); + tools_menu->addAction(tr("&Find Signal"), this, &MainWindow::findSignal); QMenu *help_menu = menuBar()->addMenu(tr("&Help")); help_menu->addAction(tr("Help"), this, &MainWindow::onlineHelp)->setShortcuts(QKeySequence::HelpContents); @@ -132,14 +145,22 @@ void MainWindow::createActions() { } void MainWindow::createDockWindows() { - // left panel + messages_dock = new QDockWidget(tr("MESSAGES"), this); + messages_dock->setObjectName("MessagesPanel"); + messages_dock->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea | Qt::TopDockWidgetArea | Qt::BottomDockWidgetArea); + messages_dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable); + addDockWidget(Qt::LeftDockWidgetArea, messages_dock); + + video_dock = new QDockWidget("", this); + video_dock->setObjectName(tr("VideoPanel")); + video_dock->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea); + video_dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable); + addDockWidget(Qt::RightDockWidgetArea, video_dock); +} + +void MainWindow::createDockWidgets() { messages_widget = new MessagesWidget(this); - QDockWidget *dock = new QDockWidget(tr("MESSAGES"), this); - dock->setObjectName("MessagesPanel"); - dock->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea | Qt::TopDockWidgetArea | Qt::BottomDockWidgetArea); - dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable); - dock->setWidget(messages_widget); - addDockWidget(Qt::LeftDockWidgetArea, dock); + messages_dock->setWidget(messages_widget); // right panel charts_widget = new ChartsWidget(this); @@ -157,180 +178,348 @@ void MainWindow::createDockWindows() { video_splitter->addWidget(charts_container); video_splitter->setStretchFactor(1, 1); video_splitter->restoreState(settings.video_splitter_state); - if (can->liveStreaming() || video_splitter->sizes()[0] == 0) { - // display video at minimum size. - video_splitter->setSizes({1, 1}); - } - - video_dock = new QDockWidget(can->routeName(), this); - video_dock->setObjectName(tr("VideoPanel")); - video_dock->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea); - video_dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable); + video_splitter->handle(1)->setEnabled(!can->liveStreaming()); video_dock->setWidget(video_splitter); - addDockWidget(Qt::RightDockWidgetArea, video_dock); + QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); } void MainWindow::createStatusBar() { progress_bar = new QProgressBar(); progress_bar->setRange(0, 100); progress_bar->setTextVisible(true); - progress_bar->setFixedSize({230, 16}); + progress_bar->setFixedSize({300, 16}); progress_bar->setVisible(false); - statusBar()->addWidget(new QLabel(tr("For Help,Press F1"))); + statusBar()->addWidget(new QLabel(tr("For Help, Press F1"))); statusBar()->addPermanentWidget(progress_bar); + + statusBar()->addPermanentWidget(status_label = new QLabel(this)); + updateStatus(); } void MainWindow::createShortcuts() { auto shortcut = new QShortcut(QKeySequence(Qt::Key_Space), this, nullptr, nullptr, Qt::ApplicationShortcut); QObject::connect(shortcut, &QShortcut::activated, []() { can->pause(!can->isPaused()); }); + shortcut = new QShortcut(QKeySequence(QKeySequence::FullScreen), this, nullptr, nullptr, Qt::ApplicationShortcut); + QObject::connect(shortcut, &QShortcut::activated, this, &MainWindow::toggleFullScreen); // TODO: add more shortcuts here. } +void MainWindow::undoStackIndexChanged(int index) { + int count = UndoStack::instance()->count(); + if (count >= 0) { + QString command_text; + if (index == count) { + command_text = (count == prev_undostack_count ? "Redo " : "") + UndoStack::instance()->text(index - 1); + } else if (index < prev_undostack_index) { + command_text = tr("Undo %1").arg(UndoStack::instance()->text(index)); + } else if (index > prev_undostack_index) { + command_text = tr("Redo %1").arg(UndoStack::instance()->text(index - 1)); + } + statusBar()->showMessage(command_text, 2000); + } + prev_undostack_index = index; + prev_undostack_count = count; + autoSave(); + updateLoadSaveMenus(); +} + void MainWindow::undoStackCleanChanged(bool clean) { + if (clean) { + prev_undostack_index = 0; + prev_undostack_count = 0; + } setWindowModified(!clean); } void MainWindow::DBCFileChanged() { UndoStack::instance()->clear(); - setWindowFilePath(QString("%1").arg(dbc()->name())); + updateLoadSaveMenus(); } -void MainWindow::openRoute() { - OpenRouteDialog dlg(this); +void MainWindow::openStream() { + AbstractStream *stream = nullptr; + StreamSelector dlg(&stream, this); if (dlg.exec()) { - detail_widget->removeAll(); - charts_widget->removeAll(); + if (!dlg.dbcFile().isEmpty()) { + loadFile(dlg.dbcFile()); + } + stream->start(); statusBar()->showMessage(tr("Route %1 loaded").arg(can->routeName()), 2000); - } else if (dlg.failedToLoad()) { - close(); } } -void MainWindow::newFile() { - remindSaveChanges(); - dbc()->open("untitled.dbc", ""); +void MainWindow::closeStream() { + AbstractStream *stream = new DummyStream(this); + stream->start(); + if (dbc()->nonEmptyDBCCount() > 0) { + emit dbc()->DBCFileChanged(); + } + statusBar()->showMessage(tr("stream closed")); +} + +void MainWindow::newFile(SourceSet s) { + closeFile(s); + dbc()->open(s, "", ""); } -void MainWindow::openFile() { +void MainWindow::openFile(SourceSet s) { remindSaveChanges(); QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)"); if (!fn.isEmpty()) { - loadFile(fn); + loadFile(fn, s); } } -void MainWindow::loadFile(const QString &fn) { +void MainWindow::loadFile(const QString &fn, SourceSet s) { if (!fn.isEmpty()) { - QFile file(fn); - if (file.open(QIODevice::ReadOnly)) { - auto dbc_name = QFileInfo(fn).baseName(); - QString error; - bool ret = dbc()->open(dbc_name, file.readAll(), &error); - if (ret) { - setCurrentFile(fn); - statusBar()->showMessage(tr("DBC File %1 loaded").arg(fn), 2000); - } else { - QMessageBox msg_box(QMessageBox::Warning, tr("Failed to load DBC file"), tr("Failed to parse DBC file %1").arg(fn)); - msg_box.setDetailedText(error); - msg_box.exec(); + closeFile(s); + + QString dbc_fn = fn; + // Prompt user to load auto saved file if it exists. + if (QFile::exists(fn + AUTO_SAVE_EXTENSION)) { + auto ret = QMessageBox::question(this, tr("Auto saved DBC found"), tr("Auto saved DBC file from previous session found. Do you want to load it instead?")); + if (ret == QMessageBox::Yes) { + dbc_fn += AUTO_SAVE_EXTENSION; + UndoStack::instance()->resetClean(); // Force user to save on close so the auto saved file is not lost } } - } -} -void MainWindow::openOpendbcFile() { - if (auto action = qobject_cast(sender())) { - remindSaveChanges(); - loadDBCFromOpendbc(action->text()); + QString error; + if (dbc()->open(s, dbc_fn, &error)) { + updateRecentFiles(fn); + statusBar()->showMessage(tr("DBC File %1 loaded").arg(fn), 2000); + } else { + QMessageBox msg_box(QMessageBox::Warning, tr("Failed to load DBC file"), tr("Failed to parse DBC file %1").arg(fn)); + msg_box.setDetailedText(error); + msg_box.exec(); + } } } void MainWindow::openRecentFile() { if (auto action = qobject_cast(sender())) { - remindSaveChanges(); loadFile(action->data().toString()); } } void MainWindow::loadDBCFromOpendbc(const QString &name) { - if (name != dbc()->name()) { - remindSaveChanges(); - dbc()->open(name); - } + QString opendbc_file_path = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, name); + loadFile(opendbc_file_path); } -void MainWindow::loadDBCFromClipboard() { - remindSaveChanges(); +void MainWindow::loadFromClipboard(SourceSet s, bool close_all) { + closeFile(s); + QString dbc_str = QGuiApplication::clipboard()->text(); QString error; - bool ret = dbc()->open("clipboard", dbc_str, &error); - if (ret && dbc()->messages().size() > 0) { + bool ret = dbc()->open(s, "", dbc_str, &error); + if (ret && dbc()->msgCount() > 0) { QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!")); } else { QMessageBox msg_box(QMessageBox::Warning, tr("Failed to load DBC from clipboard"), tr("Make sure that you paste the text with correct format.")); - if (!error.isEmpty()) { - msg_box.setDetailedText(error); - } + msg_box.setDetailedText(error); msg_box.exec(); } } -void MainWindow::loadDBCFromFingerprint() { +void MainWindow::changingStream() { + center_widget->clear(); + delete messages_widget; + delete video_splitter; +} + +void MainWindow::streamStarted() { + bool has_stream = dynamic_cast(can) == nullptr; + close_stream_act->setEnabled(has_stream); + tools_menu->setEnabled(has_stream); + createDockWidgets(); + + video_dock->setWindowTitle(can->routeName()); + if (can->liveStreaming() || video_splitter->sizes()[0] == 0) { + // display video at minimum size. + video_splitter->setSizes({1, 1}); + } // Don't overwrite already loaded DBC - if (!dbc()->name().isEmpty()) { - return; + if (!dbc()->msgCount()) { + newFile(); } - remindSaveChanges(); - auto fingerprint = can->carFingerprint(); - if (can->liveStreaming()) { - video_dock->setWindowTitle(can->routeName()); - } else { - video_dock->setWindowTitle(tr("ROUTE: %1 FINGERPINT: %2").arg(can->routeName()).arg(fingerprint.isEmpty() ? tr("Unknown Car") : fingerprint)); - } - if (!fingerprint.isEmpty()) { - auto dbc_name = fingerprint_to_dbc[fingerprint]; - if (dbc_name != QJsonValue::Undefined) { - loadDBCFromOpendbc(dbc_name.toString()); - return; + QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage); + QObject::connect(can, &AbstractStream::eventsMerged, this, &MainWindow::eventsMerged); + QObject::connect(can, &AbstractStream::sourcesUpdated, dbc(), &DBCManager::updateSources); + QObject::connect(can, &AbstractStream::sourcesUpdated, this, &MainWindow::updateLoadSaveMenus); +} + +void MainWindow::eventsMerged() { + if (!can->liveStreaming()) { + auto fingerprint = can->carFingerprint(); + video_dock->setWindowTitle(tr("ROUTE: %1 FINGERPRINT: %2").arg(can->routeName()).arg(fingerprint.isEmpty() ? tr("Unknown Car") : fingerprint)); + // Don't overwrite already loaded DBC + if (!dbc()->msgCount() && !fingerprint.isEmpty()) { + auto dbc_name = fingerprint_to_dbc[fingerprint]; + if (dbc_name != QJsonValue::Undefined) { + loadDBCFromOpendbc(dbc_name.toString()); + } } } - newFile(); } void MainWindow::save() { - if (current_file.isEmpty()) { - saveAs(); + // Save all open DBC files + for (auto &[s, dbc_file] : dbc()->dbc_files) { + if (dbc_file->isEmpty()) continue; + saveFile(dbc_file); + } +} + +void MainWindow::saveAs() { + // Save as all open DBC files. Should not be called with more than 1 file open + for (auto &[s, dbc_file] : dbc()->dbc_files) { + if (dbc_file->isEmpty()) continue; + saveFileAs(dbc_file); + } +} + +void MainWindow::autoSave() { + if (!UndoStack::instance()->isClean()) { + for (auto &[_, dbc_file] : dbc()->dbc_files) { + if (!dbc_file->filename.isEmpty()) { + dbc_file->autoSave(); + } + } + } +} + +void MainWindow::cleanupAutoSaveFile() { + for (auto &[_, dbc_file] : dbc()->dbc_files) { + dbc_file->cleanupAutoSaveFile(); + } +} + +void MainWindow::closeFile(SourceSet s) { + remindSaveChanges(); + if (s == SOURCE_ALL) { + dbc()->closeAll(); } else { - saveFile(current_file); + dbc()->close(s); } } -void MainWindow::saveFile(const QString &fn) { - QFile file(fn); - if (file.open(QIODevice::WriteOnly)) { - file.write(dbc()->generateDBC().toUtf8()); - UndoStack::instance()->setClean(); - setCurrentFile(fn); - statusBar()->showMessage(tr("File saved"), 2000); +void MainWindow::closeFile(DBCFile *dbc_file) { + assert(dbc_file != nullptr); + remindSaveChanges(); + dbc()->close(dbc_file); + // Ensure we always have at least one file open + if (dbc()->dbcCount() == 0) { + newFile(); } } -void MainWindow::saveAs() { - QString fn = QFileDialog::getSaveFileName(this, tr("Save File"), QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)")); +void MainWindow::saveFile(DBCFile *dbc_file) { + assert(dbc_file != nullptr); + if (!dbc_file->filename.isEmpty()) { + dbc_file->save(); + updateLoadSaveMenus(); + } else if (!dbc_file->isEmpty()) { + saveFileAs(dbc_file); + } + UndoStack::instance()->setClean(); + statusBar()->showMessage(tr("File saved"), 2000); +} + +void MainWindow::saveFileAs(DBCFile *dbc_file) { + auto it = std::find_if(dbc()->dbc_files.begin(), dbc()->dbc_files.end(), [=](auto &f) { return f.second == dbc_file; }); + assert(it != dbc()->dbc_files.end()); + QString title = tr("Save File (bus: %1)").arg(toString(it->first)); + QString fn = QFileDialog::getSaveFileName(this, title, QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)")); if (!fn.isEmpty()) { - saveFile(fn); + dbc_file->saveAs(fn); + updateRecentFiles(fn); + updateLoadSaveMenus(); + } +} + +void MainWindow::removeBusFromFile(DBCFile *dbc_file, uint8_t source) { + assert(dbc_file != nullptr); + SourceSet ss = {source, uint8_t(source + 128), uint8_t(source + 192)}; + dbc()->removeSourcesFromFile(dbc_file, ss); +} + +void MainWindow::saveToClipboard() { + // Copy all open DBC files to clipboard. Should not be called with more than 1 file open + for (auto &[s, dbc_file] : dbc()->dbc_files) { + if (dbc_file->isEmpty()) continue; + saveFileToClipboard(dbc_file); } } -void MainWindow::saveDBCToClipboard() { - QGuiApplication::clipboard()->setText(dbc()->generateDBC()); +void MainWindow::saveFileToClipboard(DBCFile *dbc_file) { + assert(dbc_file != nullptr); + QGuiApplication::clipboard()->setText(dbc_file->generateDBC()); QMessageBox::information(this, tr("Copy To Clipboard"), tr("DBC Successfully copied!")); } -void MainWindow::setCurrentFile(const QString &fn) { - current_file = fn; - setWindowFilePath(QString("%1").arg(fn)); +void MainWindow::updateLoadSaveMenus() { + int cnt = dbc()->nonEmptyDBCCount(); + if (cnt > 1) { + save_dbc->setText(tr("Save %1 DBCs...").arg(dbc()->dbcCount())); + } else { + save_dbc->setText(tr("Save DBC...")); + } + save_dbc->setEnabled(cnt > 0); + save_dbc_as->setEnabled(cnt == 1); + + // TODO: Support clipboard for multiple files + copy_dbc_to_clipboard->setEnabled(cnt == 1); + + QList sources_sorted = can->sources.toList(); + std::sort(sources_sorted.begin(), sources_sorted.end()); + + manage_dbcs_menu->clear(); + manage_dbcs_menu->setEnabled(dynamic_cast(can) == nullptr); + + for (uint8_t source : sources_sorted) { + if (source >= 64) continue; // Sent and blocked buses are handled implicitly + + SourceSet ss = {source, uint8_t(source + 128), uint8_t(source + 192)}; + + QMenu *bus_menu = new QMenu(this); + bus_menu->addAction(tr("New DBC File..."), [=]() { newFile(ss); }); + bus_menu->addAction(tr("Open DBC File..."), [=]() { openFile(ss); }); + bus_menu->addAction(tr("Load DBC From Clipboard..."), [=]() { loadFromClipboard(ss, false); }); + + // Show sub-menu for each dbc for this source. + QStringList bus_menu_fns; + for (auto it : dbc()->dbc_files) { + auto &[src, dbc_file] = it; + if (!src.contains(source) && (src != SOURCE_ALL)) { + continue; + } + + bus_menu->addSeparator(); + bus_menu->addAction(dbc_file->name() + " (" + toString(src) + ")")->setEnabled(false); + bus_menu->addAction(tr("Save..."), [=]() { saveFile(it.second); }); + bus_menu->addAction(tr("Save As..."), [=]() { saveFileAs(it.second); }); + bus_menu->addAction(tr("Copy to Clipboard..."), [=]() { saveFileToClipboard(it.second); }); + bus_menu->addAction(tr("Remove from this bus..."), [=]() { removeBusFromFile(it.second, source); }); + bus_menu->addAction(tr("Remove from all buses..."), [=]() { closeFile(it.second); }); + + bus_menu_fns << dbc_file->name(); + } + + manage_dbcs_menu->addMenu(bus_menu); + QString bus_menu_title = bus_menu_fns.size() ? bus_menu_fns.join(", ") : "No DBCs loaded"; + bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(bus_menu_title)); + } + + QStringList title; + for (auto &[src, dbc_file] : dbc()->dbc_files) { + title.push_back(tr("(%1) %2").arg(toString(src), dbc_file->name())); + } + setWindowFilePath(title.join(" | ")); +} + +void MainWindow::updateRecentFiles(const QString &fn) { settings.recent_files.removeAll(fn); settings.recent_files.prepend(fn); while (settings.recent_files.size() > MAX_RECENT_FILES) { @@ -358,9 +547,8 @@ void MainWindow::updateRecentFileActions() { void MainWindow::remindSaveChanges() { bool discard_changes = false; while (!UndoStack::instance()->isClean() && !discard_changes) { - int ret = (QMessageBox::question(this, tr("Unsaved Changes"), - tr("You have unsaved changes. Press ok to save them, cancel to discard."), - QMessageBox::Ok | QMessageBox::Cancel)); + QString text = tr("You have unsaved changes. Press ok to save them, cancel to discard."); + int ret = (QMessageBox::question(this, tr("Unsaved Changes"), text, QMessageBox::Ok | QMessageBox::Cancel)); if (ret == QMessageBox::Ok) { save(); } else { @@ -368,7 +556,6 @@ void MainWindow::remindSaveChanges() { } } UndoStack::instance()->clear(); - current_file = ""; } void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool success) { @@ -381,6 +568,10 @@ void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool succe } } +void MainWindow::updateStatus() { + status_label->setText(tr("Cached Minutes:%1 FPS:%2").arg(settings.max_cached_minutes).arg(settings.fps)); +} + void MainWindow::dockCharts(bool dock) { if (dock && floating_window) { floating_window->removeEventFilter(charts_widget); @@ -399,6 +590,7 @@ void MainWindow::dockCharts(bool dock) { } void MainWindow::closeEvent(QCloseEvent *event) { + cleanupAutoSaveFile(); remindSaveChanges(); main_win = nullptr; @@ -427,6 +619,12 @@ void MainWindow::findSimilarBits() { dlg->show(); } +void MainWindow::findSignal() { + FindSignalDlg *dlg = new FindSignalDlg(this); + QObject::connect(dlg, &FindSignalDlg::openMessage, messages_widget, &MessagesWidget::selectMessage); + dlg->show(); +} + void MainWindow::onlineHelp() { if (auto help = findChild()) { help->close(); @@ -438,6 +636,19 @@ void MainWindow::onlineHelp() { } } +void MainWindow::toggleFullScreen() { + if (isFullScreen()) { + menuBar()->show(); + statusBar()->show(); + showNormal(); + showMaximized(); + } else { + menuBar()->hide(); + statusBar()->hide(); + showFullScreen(); + } +} + // HelpOverlay HelpOverlay::HelpOverlay(MainWindow *parent) : QWidget(parent) { setAttribute(Qt::WA_NoSystemBackground, true); diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index e7a39adab7..f56d37a252 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -3,11 +3,13 @@ #include #include #include +#include #include #include #include -#include "tools/cabana/chartswidget.h" +#include "tools/cabana/chart/chartswidget.h" +#include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/detailwidget.h" #include "tools/cabana/messageswidget.h" #include "tools/cabana/videowidget.h" @@ -20,20 +22,22 @@ public: MainWindow(); void dockCharts(bool dock); void showStatusMessage(const QString &msg, int timeout = 0) { statusBar()->showMessage(msg, timeout); } - void loadFile(const QString &fn); + void loadFile(const QString &fn, SourceSet s = SOURCE_ALL); + ChartsWidget *charts_widget = nullptr; public slots: - void openRoute(); - void newFile(); - void openFile(); + void openStream(); + void closeStream(); + void changingStream(); + void streamStarted(); + + void newFile(SourceSet s = SOURCE_ALL); + void openFile(SourceSet s = SOURCE_ALL); void openRecentFile(); - void openOpendbcFile(); void loadDBCFromOpendbc(const QString &name); - void loadDBCFromFingerprint(); - void loadDBCFromClipboard(); void save(); void saveAs(); - void saveDBCToClipboard(); + void saveToClipboard(); signals: void showMessage(const QString &msg, int timeout); @@ -41,8 +45,16 @@ signals: protected: void remindSaveChanges(); - void saveFile(const QString &fn); - void setCurrentFile(const QString &fn); + void closeFile(SourceSet s = SOURCE_ALL); + void closeFile(DBCFile *dbc_file); + void saveFile(DBCFile *dbc_file); + void saveFileAs(DBCFile *dbc_file); + void saveFileToClipboard(DBCFile *dbc_file); + void removeBusFromFile(DBCFile *dbc_file, uint8_t source); + void loadFromClipboard(SourceSet s = SOURCE_ALL, bool close_all = true); + void autoSave(); + void cleanupAutoSaveFile(); + void updateRecentFiles(const QString &fn); void updateRecentFileActions(); void createActions(); void createDockWindows(); @@ -53,23 +65,38 @@ protected: void updateDownloadProgress(uint64_t cur, uint64_t total, bool success); void setOption(); void findSimilarBits(); + void findSignal(); void undoStackCleanChanged(bool clean); + void undoStackIndexChanged(int index); void onlineHelp(); + void toggleFullScreen(); + void updateStatus(); + void updateLoadSaveMenus(); + void createDockWidgets(); + void eventsMerged(); VideoWidget *video_widget = nullptr; QDockWidget *video_dock; - MessagesWidget *messages_widget; - DetailWidget *detail_widget; - ChartsWidget *charts_widget; + QDockWidget *messages_dock; + MessagesWidget *messages_widget = nullptr; + CenterWidget *center_widget; QWidget *floating_window = nullptr; QVBoxLayout *charts_layout; QProgressBar *progress_bar; + QLabel *status_label; QJsonDocument fingerprint_to_dbc; - QSplitter *video_splitter;; - QString current_file = ""; + QSplitter *video_splitter = nullptr; enum { MAX_RECENT_FILES = 15 }; QAction *recent_files_acts[MAX_RECENT_FILES] = {}; QMenu *open_recent_menu = nullptr; + QMenu *manage_dbcs_menu = nullptr; + QMenu *tools_menu = nullptr; + QAction *close_stream_act = nullptr; + QAction *save_dbc = nullptr; + QAction *save_dbc_as = nullptr; + QAction *copy_dbc_to_clipboard = nullptr; + int prev_undostack_index = 0; + int prev_undostack_count = 0; friend class OnlineHelp; }; diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 81ebc6af20..657743901e 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -1,35 +1,58 @@ #include "tools/cabana/messageswidget.h" - -#include -#include #include #include #include +#include #include -#include "tools/cabana/dbcmanager.h" +#include "tools/cabana/commands.h" MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0 ,0, 0, 0); + + QHBoxLayout *title_layout = new QHBoxLayout(); + num_msg_label = new QLabel(this); + title_layout->addSpacing(10); + title_layout->addWidget(num_msg_label); - // message filter - filter = new QLineEdit(this); - filter->setClearButtonEnabled(true); - filter->setPlaceholderText(tr("filter messages")); - main_layout->addWidget(filter); + title_layout->addStretch(); + title_layout->addWidget(multiple_lines_bytes = new QCheckBox(tr("Multiple Lines &Bytes"), this)); + multiple_lines_bytes->setToolTip(tr("Display bytes in multiple lines")); + multiple_lines_bytes->setChecked(settings.multiple_lines_bytes); + QPushButton *clear_filters = new QPushButton(tr("&Clear Filters")); + clear_filters->setEnabled(false); + title_layout->addWidget(clear_filters); + main_layout->addLayout(title_layout); // message table - table_widget = new QTableView(this); + view = new MessageView(this); model = new MessageListModel(this); - table_widget->setModel(model); - table_widget->setItemDelegateForColumn(4, new MessageBytesDelegate(table_widget)); - table_widget->setSelectionBehavior(QAbstractItemView::SelectRows); - table_widget->setSelectionMode(QAbstractItemView::SingleSelection); - table_widget->setSortingEnabled(true); - table_widget->sortByColumn(0, Qt::AscendingOrder); - table_widget->horizontalHeader()->setStretchLastSection(true); - table_widget->verticalHeader()->hide(); - main_layout->addWidget(table_widget); + header = new MessageViewHeader(this, model); + auto delegate = new MessageBytesDelegate(view, settings.multiple_lines_bytes); + + view->setItemDelegate(delegate); + view->setModel(model); + view->setSortingEnabled(true); + view->sortByColumn(MessageListModel::Column::NAME, Qt::AscendingOrder); + view->setAllColumnsShowFocus(true); + view->setEditTriggers(QAbstractItemView::NoEditTriggers); + view->setItemsExpandable(false); + view->setIndentation(0); + view->setRootIsDecorated(false); + view->setHeader(header); + + // Must be called before setting any header parameters to avoid overriding + restoreHeaderState(settings.message_header_state); + view->header()->setSectionsMovable(true); + view->header()->setSectionResizeMode(MessageListModel::Column::DATA, QHeaderView::Fixed); + view->header()->setStretchLastSection(true); + + // Header context menu + view->header()->setContextMenuPolicy(Qt::CustomContextMenu); + QObject::connect(view->header(), &QHeaderView::customContextMenuRequested, view, &MessageView::headerContextMenuEvent); + + main_layout->addWidget(view); // suppress QHBoxLayout *suppress_layout = new QHBoxLayout(); @@ -37,20 +60,43 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { suppress_clear = new QPushButton(); suppress_layout->addWidget(suppress_add); suppress_layout->addWidget(suppress_clear); + QCheckBox *suppress_defined_signals = new QCheckBox(tr("Suppress Defined Signals"), this); + suppress_defined_signals->setChecked(settings.suppress_defined_signals); + suppress_layout->addWidget(suppress_defined_signals); main_layout->addLayout(suppress_layout); // signals/slots - QObject::connect(filter, &QLineEdit::textEdited, model, &MessageListModel::setFilterString); + QObject::connect(header, &MessageViewHeader::filtersUpdated, model, &MessageListModel::setFilterStrings); + QObject::connect(header, &MessageViewHeader::filtersUpdated, [=](const QMap &filters) { + clear_filters->setEnabled(!filters.isEmpty()); + }); + QObject::connect(view->horizontalScrollBar(), &QScrollBar::valueChanged, header, &MessageViewHeader::updateHeaderPositions); + QObject::connect(clear_filters, &QPushButton::clicked, header, &MessageViewHeader::clearFilters); + QObject::connect(multiple_lines_bytes, &QCheckBox::stateChanged, [=](int state) { + settings.multiple_lines_bytes = (state == Qt::Checked); + delegate->setMultipleLines(settings.multiple_lines_bytes); + view->setUniformRowHeights(!settings.multiple_lines_bytes); + + // Reset model to force recalculation of the width of the bytes column + model->forceResetModel(); + }); + QObject::connect(suppress_defined_signals, &QCheckBox::stateChanged, [=](int state) { + settings.suppress_defined_signals = (state == Qt::Checked); + }); QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived); - QObject::connect(can, &AbstractStream::streamStarted, this, &MessagesWidget::reset); - QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::sortMessages); - QObject::connect(dbc(), &DBCManager::msgUpdated, model, &MessageListModel::sortMessages); - QObject::connect(dbc(), &DBCManager::msgRemoved, model, &MessageListModel::sortMessages); - QObject::connect(model, &MessageListModel::modelReset, [this]() { selectMessage(*current_msg_id); }); - QObject::connect(table_widget->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex ¤t, const QModelIndex &previous) { + QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MessagesWidget::dbcModified); + QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MessagesWidget::dbcModified); + QObject::connect(model, &MessageListModel::modelReset, [this]() { + if (current_msg_id) { + selectMessage(*current_msg_id); + } + view->updateBytesSectionSize(); + }); + QObject::connect(view->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex ¤t, const QModelIndex &previous) { if (current.isValid() && current.row() < model->msgs.size()) { - if (model->msgs[current.row()] != *current_msg_id) { - current_msg_id = model->msgs[current.row()]; + auto &id = model->msgs[current.row()]; + if (!current_msg_id || id != *current_msg_id) { + current_msg_id = id; emit msgSelectionChanged(*current_msg_id); } } @@ -69,16 +115,22 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { setWhatsThis(tr(R"( Message View
- Byte color:
+ Byte color
■ constant changing
■ increasing
- ■ decreasing
+ ■ decreasing )")); } +void MessagesWidget::dbcModified() { + num_msg_label->setText(tr("%1 Messages, %2 Signals").arg(dbc()->msgCount()).arg(dbc()->signalCount())); + model->dbcModified(); +} + void MessagesWidget::selectMessage(const MessageId &msg_id) { - if (int row = model->msgs.indexOf(msg_id); row != -1) { - table_widget->selectionModel()->setCurrentIndex(model->index(row, 0), QItemSelectionModel::Rows | QItemSelectionModel::ClearAndSelect); + auto it = std::find(model->msgs.cbegin(), model->msgs.cend(), msg_id); + if (it != model->msgs.cend()) { + view->selectionModel()->setCurrentIndex(model->index(std::distance(model->msgs.cbegin(), it), 0), QItemSelectionModel::Rows | QItemSelectionModel::ClearAndSelect); } } @@ -92,19 +144,19 @@ void MessagesWidget::updateSuppressedButtons() { } } -void MessagesWidget::reset() { - model->reset(); - filter->clear(); - current_msg_id = std::nullopt; - updateSuppressedButtons(); -} - - // MessageListModel QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const { - if (orientation == Qt::Horizontal && role == Qt::DisplayRole) - return (QString[]){"Name", "ID", "Freq", "Count", "Bytes"}[section]; + if (orientation == Qt::Horizontal && role == Qt::DisplayRole) { + switch (section) { + case Column::NAME: return tr("Name"); + case Column::SOURCE: return tr("Bus"); + case Column::ADDRESS: return tr("ID"); + case Column::FREQ: return tr("Freq"); + case Column::COUNT: return tr("Count"); + case Column::DATA: return tr("Bytes"); + } + } return {}; } @@ -112,15 +164,24 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { const auto &id = msgs[index.row()]; auto &can_data = can->lastMessage(id); + auto getFreq = [](const CanData &d) -> QString { + if (d.freq > 0 && (can->currentSec() - d.ts - 1.0 / settings.fps) < (5.0 / d.freq)) { + return d.freq >= 1 ? QString::number(std::nearbyint(d.freq)) : QString::number(d.freq, 'f', 2); + } else { + return "--"; + } + }; + if (role == Qt::DisplayRole) { switch (index.column()) { - case 0: return msgName(id); - case 1: return id.toString(); // TODO: put source and address in separate columns - case 2: return can_data.freq; - case 3: return can_data.count; - case 4: return toHex(can_data.dat); + case Column::NAME: return msgName(id); + case Column::SOURCE: return id.source != INVALID_SOURCE ? QString::number(id.source) : "N/A" ; + case Column::ADDRESS: return QString::number(id.address, 16); + case Column::FREQ: return id.source != INVALID_SOURCE ? getFreq(can_data) : "N/A"; + case Column::COUNT: return id.source != INVALID_SOURCE ? QString::number(can_data.count) : "N/A"; + case Column::DATA: return id.source != INVALID_SOURCE ? toHex(can_data.dat) : "N/A"; } - } else if (role == Qt::UserRole && index.column() == 4) { + } else if (role == ColorsRole) { QVector colors = can_data.colors; if (!suppressed_bytes.empty()) { for (int i = 0; i < colors.size(); i++) { @@ -130,73 +191,149 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { } } return QVariant::fromValue(colors); + } else if (role == BytesRole && index.column() == Column::DATA && id.source != INVALID_SOURCE) { + return can_data.dat; + } else if (role == Qt::ToolTipRole && index.column() == Column::NAME) { + auto msg = dbc()->msg(id); + auto tooltip = msg ? msg->name : UNTITLED; + if (msg && !msg->comment.isEmpty()) tooltip += "
" + msg->comment + ""; + return tooltip; } return {}; } -void MessageListModel::setFilterString(const QString &string) { - auto contains = [](const MessageId &id, const QString &txt) { - auto cs = Qt::CaseInsensitive; - if (id.toString().contains(txt, cs) || msgName(id).contains(txt, cs)) return true; - // Search by signal name - if (const auto msg = dbc()->msg(id)) { - for (auto &signal : msg->getSignals()) { - if (QString::fromStdString(signal->name).contains(txt, cs)) return true; - } - } - return false; - }; +void MessageListModel::setFilterStrings(const QMap &filters) { + filter_str = filters; + fetchData(); +} - filter_str = string; - msgs.clear(); - for (auto it = can->can_msgs.begin(); it != can->can_msgs.end(); ++it) { - if (filter_str.isEmpty() || contains(it.key(), filter_str)) { - msgs.push_back(it.key()); - } +void MessageListModel::dbcModified() { + dbc_address.clear(); + for (const auto &[_, m] : dbc()->getMessages(0)) { + dbc_address.insert(m.address); } - sortMessages(); + fetchData(); } -void MessageListModel::sortMessages() { - beginResetModel(); - if (sort_column == 0) { - std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { +void MessageListModel::sortMessages(std::vector &new_msgs) { + if (sort_column == Column::NAME) { + std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) { auto ll = std::pair{msgName(l), l}; auto rr = std::pair{msgName(r), r}; return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; }); - } else if (sort_column == 1) { - std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { - return sort_order == Qt::AscendingOrder ? l < r : l > r; + } else if (sort_column == Column::SOURCE) { + std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) { + auto ll = std::pair{l.source, l}; + auto rr = std::pair{r.source, r}; + return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; + }); + } else if (sort_column == Column::ADDRESS) { + std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) { + auto ll = std::pair{l.address, l}; + auto rr = std::pair{r.address, r}; + return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; }); - } else if (sort_column == 2) { - std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { + } else if (sort_column == Column::FREQ) { + std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) { auto ll = std::pair{can->lastMessage(l).freq, l}; auto rr = std::pair{can->lastMessage(r).freq, r}; return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; }); - } else if (sort_column == 3) { - std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { + } else if (sort_column == Column::COUNT) { + std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) { auto ll = std::pair{can->lastMessage(l).count, l}; auto rr = std::pair{can->lastMessage(r).count, r}; return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; }); } - endResetModel(); } -void MessageListModel::msgsReceived(const QHash *new_msgs) { - int prev_row_count = msgs.size(); - if (filter_str.isEmpty() && msgs.size() != can->can_msgs.size()) { - msgs = can->can_msgs.keys(); +static bool parseRange(const QString &filter, uint32_t value, int base = 10) { + // Parse out filter string into a range (e.g. "1" -> {1, 1}, "1-3" -> {1, 3}, "1-" -> {1, inf}) + unsigned int min = std::numeric_limits::min(); + unsigned int max = std::numeric_limits::max(); + auto s = filter.split('-'); + bool ok = s.size() <= 2; + if (ok && !s[0].isEmpty()) min = s[0].toUInt(&ok, base); + if (ok && s.size() == 2 && !s[1].isEmpty()) max = s[1].toUInt(&ok, base); + return ok && value >= min && value <= max; +} + +bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, const QMap &filters) { + bool match = true; + for (auto it = filters.cbegin(); it != filters.cend() && match; ++it) { + const QString &txt = it.value(); + QRegularExpression re(txt, QRegularExpression::CaseInsensitiveOption | QRegularExpression::DotMatchesEverythingOption); + switch (it.key()) { + case Column::NAME: { + const auto msg = dbc()->msg(id); + match = re.match(msg ? msg->name : UNTITLED).hasMatch(); + match |= msg && std::any_of(msg->sigs.cbegin(), msg->sigs.cend(), [&re](const auto &s) { return re.match(s.name).hasMatch(); }); + break; + } + case Column::SOURCE: + match = parseRange(txt, id.source); + break; + case Column::ADDRESS: { + match = re.match(QString::number(id.address, 16)).hasMatch(); + match |= parseRange(txt, id.address, 16); + break; + } + case Column::FREQ: + // TODO: Hide stale messages? + match = parseRange(txt, data.freq); + break; + case Column::COUNT: + match = parseRange(txt, data.count); + break; + case Column::DATA: { + match = QString(data.dat.toHex()).contains(txt, Qt::CaseInsensitive); + match |= re.match(QString(data.dat.toHex())).hasMatch(); + match |= re.match(QString(data.dat.toHex(' '))).hasMatch(); + break; + } + } + } + return match; +} + +void MessageListModel::fetchData() { + std::vector new_msgs; + new_msgs.reserve(can->last_msgs.size() + dbc_address.size()); + + auto address = dbc_address; + for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) { + if (filter_str.isEmpty() || matchMessage(it.key(), it.value(), filter_str)) { + new_msgs.push_back(it.key()); + } + address.remove(it.key().address); + } + + // merge all DBC messages + for (auto &addr : address) { + MessageId id{.source = INVALID_SOURCE, .address = addr}; + if (filter_str.isEmpty() || matchMessage(id, {}, filter_str)) { + new_msgs.push_back(id); + } + } + + sortMessages(new_msgs); + + if (msgs != new_msgs) { + beginResetModel(); + msgs = std::move(new_msgs); + endResetModel(); } - if (msgs.size() != prev_row_count) { - sortMessages(); - return; +} + +void MessageListModel::msgsReceived(const QHash *new_msgs, bool has_new_ids) { + if (has_new_ids || filter_str.contains(Column::FREQ) || filter_str.contains(Column::COUNT) || filter_str.contains(Column::DATA)) { + fetchData(); } for (int i = 0; i < msgs.size(); ++i) { if (new_msgs->contains(msgs[i])) { - for (int col = 2; col < columnCount(); ++col) + for (int col = Column::FREQ; col < columnCount(); ++col) emit dataChanged(index(i, col), index(i, col), {Qt::DisplayRole}); } } @@ -206,7 +343,7 @@ void MessageListModel::sort(int column, Qt::SortOrder order) { if (column != columnCount() - 1) { sort_column = column; sort_order = order; - sortMessages(); + fetchData(); } } @@ -228,10 +365,139 @@ void MessageListModel::clearSuppress() { suppressed_bytes.clear(); } -void MessageListModel::reset() { +void MessageListModel::forceResetModel() { beginResetModel(); - filter_str = ""; - msgs.clear(); - clearSuppress(); endResetModel(); } + +// MessageView + +void MessageView::drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { + QTreeView::drawRow(painter, option, index); + const int gridHint = style()->styleHint(QStyle::SH_Table_GridLineColor, &option, this); + const QColor gridColor = QColor::fromRgba(static_cast(gridHint)); + QPen old_pen = painter->pen(); + painter->setPen(gridColor); + painter->drawLine(option.rect.left(), option.rect.bottom(), option.rect.right(), option.rect.bottom()); + + auto y = option.rect.y(); + painter->translate(visualRect(model()->index(0, 0)).x() - indentation() - .5, -.5); + for (int i = 0; i < header()->count(); ++i) { + painter->translate(header()->sectionSize(header()->logicalIndex(i)), 0); + painter->drawLine(0, y, 0, y + option.rect.height()); + } + painter->setPen(old_pen); + painter->resetTransform(); +} + +void MessageView::dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector &roles) { + // Bypass the slow call to QTreeView::dataChanged. + // QTreeView::dataChanged will invalidate the height cache and that's what we don't need in MessageView. + QAbstractItemView::dataChanged(topLeft, bottomRight, roles); +} + +void MessageView::updateBytesSectionSize() { + auto delegate = ((MessageBytesDelegate *)itemDelegate()); + int max_bytes = 8; + if (!delegate->multipleLines()) { + for (auto it = can->last_msgs.constBegin(); it != can->last_msgs.constEnd(); ++it) { + max_bytes = std::max(max_bytes, it.value().dat.size()); + } + } + int width = delegate->widthForBytes(max_bytes); + if (header()->sectionSize(MessageListModel::Column::DATA) != width) { + header()->resizeSection(MessageListModel::Column::DATA, width); + } +} + +void MessageView::headerContextMenuEvent(const QPoint &pos) { + QMenu *menu = new QMenu(this); + int cur_index = header()->logicalIndexAt(pos); + + QAction *action; + for (int visual_index = 0; visual_index < header()->count(); visual_index++) { + int logical_index = header()->logicalIndex(visual_index); + QString column_name = model()->headerData(logical_index, Qt::Horizontal).toString(); + + // Hide show action + if (header()->isSectionHidden(logical_index)) { + action = menu->addAction(tr("  %1").arg(column_name), [=]() { header()->showSection(logical_index); }); + } else { + action = menu->addAction(tr("✓ %1").arg(column_name), [=]() { header()->hideSection(logical_index); }); + } + + // Can't hide the name column + action->setEnabled(logical_index > 0); + + // Make current column bold + if (logical_index == cur_index) { + QFont font = action->font(); + font.setBold(true); + action->setFont(font); + } + } + + menu->popup(header()->mapToGlobal(pos)); +} + +MessageViewHeader::MessageViewHeader(QWidget *parent, MessageListModel *model) : model(model), QHeaderView(Qt::Horizontal, parent) { + QObject::connect(this, &QHeaderView::sectionResized, this, &MessageViewHeader::updateHeaderPositions); + QObject::connect(this, &QHeaderView::sectionMoved, this, &MessageViewHeader::updateHeaderPositions); +} + +void MessageViewHeader::updateFilters() { + QMap filters; + for (int i = 0; i < count(); i++) { + if (editors[i]) { + QString filter = editors[i]->text(); + if (!filter.isEmpty()) { + filters[i] = filter; + } + } + } + emit filtersUpdated(filters); +} + +void MessageViewHeader::clearFilters() { + for (QLineEdit *editor : editors) { + editor->clear(); + } +} + +void MessageViewHeader::updateHeaderPositions() { + QSize sz = QHeaderView::sizeHint(); + for (int i = 0; i < count(); i++) { + if (editors[i]) { + int h = editors[i]->sizeHint().height(); + editors[i]->move(sectionViewportPosition(i), sz.height()); + editors[i]->resize(sectionSize(i), h); + editors[i]->setHidden(isSectionHidden(i)); + } + } +} + +void MessageViewHeader::updateGeometries() { + for (int i = 0; i < count(); i++) { + if (!editors[i]) { + QString column_name = model->headerData(i, Qt::Horizontal, Qt::DisplayRole).toString(); + editors[i] = new QLineEdit(this); + editors[i]->setClearButtonEnabled(true); + editors[i]->setPlaceholderText(tr("Filter %1").arg(column_name)); + + QObject::connect(editors[i], &QLineEdit::textChanged, this, &MessageViewHeader::updateFilters); + } + } + setViewportMargins(0, 0, 0, editors[0] ? editors[0]->sizeHint().height() : 0); + + QHeaderView::updateGeometries(); + updateHeaderPositions(); +} + + +QSize MessageViewHeader::sizeHint() const { + QSize sz = QHeaderView::sizeHint(); + if (editors[0]) { + sz.setHeight(sz.height() + editors[0]->minimumSizeHint().height() + 1); + } + return sz; +} diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index 562069c3ae..57011e51b4 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -1,61 +1,117 @@ #pragma once -#include - #include +#include +#include #include +#include #include +#include #include -#include -#include +#include +#include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" class MessageListModel : public QAbstractTableModel { Q_OBJECT public: + + enum Column { + NAME = 0, + SOURCE, + ADDRESS, + FREQ, + COUNT, + DATA, + }; + MessageListModel(QObject *parent) : QAbstractTableModel(parent) {} QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; - int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 5; } + int columnCount(const QModelIndex &parent = QModelIndex()) const override { return Column::DATA + 1; } QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const; int rowCount(const QModelIndex &parent = QModelIndex()) const override { return msgs.size(); } void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override; - void setFilterString(const QString &string); - void msgsReceived(const QHash *new_msgs = nullptr); - void sortMessages(); + void setFilterStrings(const QMap &filters); + void msgsReceived(const QHash *new_msgs, bool has_new_ids); + void fetchData(); void suppress(); void clearSuppress(); - void reset(); - QList msgs; + void forceResetModel(); + void dbcModified(); + std::vector msgs; QSet> suppressed_bytes; private: - QString filter_str; + void sortMessages(std::vector &new_msgs); + bool matchMessage(const MessageId &id, const CanData &data, const QMap &filters); + + QMap filter_str; + QSet dbc_address; int sort_column = 0; Qt::SortOrder sort_order = Qt::AscendingOrder; }; +class MessageView : public QTreeView { + Q_OBJECT +public: + MessageView(QWidget *parent) : QTreeView(parent) {} + void drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; + void drawBranches(QPainter *painter, const QRect &rect, const QModelIndex &index) const override {} + void dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector &roles = QVector()) override; + void updateBytesSectionSize(); + void headerContextMenuEvent(const QPoint &pos); +}; + +class MessageViewHeader : public QHeaderView { + // https://stackoverflow.com/a/44346317 + + Q_OBJECT +public: + MessageViewHeader(QWidget *parent, MessageListModel *model); + void updateHeaderPositions(); + + void updateGeometries() override; + QSize sizeHint() const override; + +public slots: + void clearFilters(); + +signals: + void filtersUpdated(const QMap &filters); + +private: + void updateFilters(); + + QMap editors; + QMap> values; + MessageListModel *model; +}; + class MessagesWidget : public QWidget { Q_OBJECT public: MessagesWidget(QWidget *parent); void selectMessage(const MessageId &message_id); - QByteArray saveHeaderState() const { return table_widget->horizontalHeader()->saveState(); } - bool restoreHeaderState(const QByteArray &state) const { return table_widget->horizontalHeader()->restoreState(state); } + QByteArray saveHeaderState() const { return view->header()->saveState(); } + bool restoreHeaderState(const QByteArray &state) const { return view->header()->restoreState(state); } void updateSuppressedButtons(); - void reset(); + +public slots: + void dbcModified(); signals: void msgSelectionChanged(const MessageId &message_id); protected: - QTableView *table_widget; + MessageView *view; + MessageViewHeader *header; std::optional current_msg_id; - QLineEdit *filter; + QCheckBox *multiple_lines_bytes; MessageListModel *model; QPushButton *suppress_add; QPushButton *suppress_clear; - + QLabel *num_msg_label; }; diff --git a/tools/cabana/route.cc b/tools/cabana/route.cc deleted file mode 100644 index ab322cdf90..0000000000 --- a/tools/cabana/route.cc +++ /dev/null @@ -1,68 +0,0 @@ -#include "tools/cabana/route.h" - -#include -#include -#include -#include -#include -#include - -#include "tools/cabana/streams/replaystream.h" - -OpenRouteDialog::OpenRouteDialog(QWidget *parent) : QDialog(parent) { - // TODO: get route list from api.comma.ai - QHBoxLayout *edit_layout = new QHBoxLayout; - edit_layout->addWidget(new QLabel(tr("Route:"))); - edit_layout->addWidget(route_edit = new QLineEdit(this)); - route_edit->setPlaceholderText(tr("Enter remote route name or click browse to select a local route")); - auto file_btn = new QPushButton(tr("Browse..."), this); - edit_layout->addWidget(file_btn); - - btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel); - btn_box->button(QDialogButtonBox::Open)->setEnabled(false); - - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->addStretch(0); - main_layout->addLayout(edit_layout); - main_layout->addStretch(0); - main_layout->addWidget(btn_box); - setMinimumSize({550, 120}); - - QObject::connect(btn_box, &QDialogButtonBox::accepted, this, &OpenRouteDialog::loadRoute); - QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject); - QObject::connect(route_edit, &QLineEdit::textChanged, [this]() { - btn_box->button(QDialogButtonBox::Open)->setEnabled(!route_edit->text().isEmpty()); - }); - QObject::connect(file_btn, &QPushButton::clicked, [=]() { - QString dir = QFileDialog::getExistingDirectory(this, tr("Open Local Route"), settings.last_route_dir); - if (!dir.isEmpty()) { - route_edit->setText(dir); - settings.last_route_dir = QFileInfo(dir).absolutePath(); - } - }); -} - -void OpenRouteDialog::loadRoute() { - btn_box->setEnabled(false); - - QString route = route_edit->text(); - QString data_dir; - if (int idx = route.lastIndexOf('/'); idx != -1) { - data_dir = route.mid(0, idx + 1); - route = route.mid(idx + 1); - } - - bool is_valid_format = Route::parseRoute(route).str.size() > 0; - if (!is_valid_format) { - QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route)); - } else { - failed_to_load = !dynamic_cast(can)->loadRoute(route, data_dir); - if (failed_to_load) { - QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to load route: '%1'").arg(route)); - } else { - accept(); - } - } - - btn_box->setEnabled(true); -} diff --git a/tools/cabana/route.h b/tools/cabana/route.h deleted file mode 100644 index ceda71d585..0000000000 --- a/tools/cabana/route.h +++ /dev/null @@ -1,19 +0,0 @@ -#pragma once - -#include -#include -#include - -class OpenRouteDialog : public QDialog { - Q_OBJECT - -public: - OpenRouteDialog(QWidget *parent); - void loadRoute(); - inline bool failedToLoad() const { return failed_to_load; } - -private: - QLineEdit *route_edit; - QDialogButtonBox *btn_box; - bool failed_to_load = false; -}; diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 6cbd16cabf..d0cada680a 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -1,11 +1,16 @@ #include "tools/cabana/settings.h" +#include #include #include +#include #include +#include #include +#include + +#include "tools/cabana/util.h" -// Settings Settings settings; Settings::Settings() { @@ -25,14 +30,21 @@ void Settings::save() { s.setValue("geometry", geometry); s.setValue("video_splitter_state", video_splitter_state); s.setValue("recent_files", recent_files); - s.setValue("message_header_state", message_header_state); + s.setValue("message_header_state_v3", message_header_state); s.setValue("chart_series_type", chart_series_type); + s.setValue("theme", theme); + s.setValue("sparkline_range", sparkline_range); + s.setValue("multiple_lines_bytes", multiple_lines_bytes); + s.setValue("log_livestream", log_livestream); + s.setValue("log_path", log_path); + s.setValue("drag_direction", drag_direction); + s.setValue("suppress_defined_signals", suppress_defined_signals); } void Settings::load() { QSettings s("settings", QSettings::IniFormat); fps = s.value("fps", 10).toInt(); - max_cached_minutes = s.value("max_cached_minutes", 5).toInt(); + max_cached_minutes = s.value("max_cached_minutes", 30).toInt(); chart_height = s.value("chart_height", 200).toInt(); chart_range = s.value("chart_range", 3 * 60).toInt(); chart_column_count = s.value("chart_column_count", 1).toInt(); @@ -42,15 +54,33 @@ void Settings::load() { geometry = s.value("geometry").toByteArray(); video_splitter_state = s.value("video_splitter_state").toByteArray(); recent_files = s.value("recent_files").toStringList(); - message_header_state = s.value("message_header_state").toByteArray(); + message_header_state = s.value("message_header_state_v3").toByteArray(); chart_series_type = s.value("chart_series_type", 0).toInt(); + theme = s.value("theme", 0).toInt(); + sparkline_range = s.value("sparkline_range", 15).toInt(); + multiple_lines_bytes = s.value("multiple_lines_bytes", true).toBool(); + log_livestream = s.value("log_livestream", true).toBool(); + log_path = s.value("log_path").toString(); + drag_direction = (Settings::DragDirection)s.value("drag_direction", 0).toInt(); + suppress_defined_signals = s.value("suppress_defined_signals", false).toBool(); + if (log_path.isEmpty()) { + log_path = QStandardPaths::writableLocation(QStandardPaths::HomeLocation) + "/cabana_live_stream/"; + } } // SettingsDlg SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { setWindowTitle(tr("Settings")); - QFormLayout *form_layout = new QFormLayout(this); + QVBoxLayout *main_layout = new QVBoxLayout(this); + QGroupBox *groupbox = new QGroupBox("General"); + QFormLayout *form_layout = new QFormLayout(groupbox); + + theme = new QComboBox(this); + theme->setToolTip(tr("You may need to restart cabana after changes theme")); + theme->addItems({tr("Automatic"), tr("Light"), tr("Dark")}); + theme->setCurrentIndex(settings.theme); + form_layout->addRow(tr("Color Theme"), theme); fps = new QSpinBox(this); fps->setRange(10, 100); @@ -63,9 +93,20 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { cached_minutes->setSingleStep(1); cached_minutes->setValue(settings.max_cached_minutes); form_layout->addRow(tr("Max Cached Minutes"), cached_minutes); + main_layout->addWidget(groupbox); + + groupbox = new QGroupBox("New Signal Settings"); + form_layout = new QFormLayout(groupbox); + drag_direction = new QComboBox(this); + drag_direction->addItems({tr("MSB First"), tr("LSB First"), tr("Always Little Endian"), tr("Always Big Endian")}); + drag_direction->setCurrentIndex(settings.drag_direction); + form_layout->addRow(tr("Drag Direction"), drag_direction); + main_layout->addWidget(groupbox); + groupbox = new QGroupBox("Chart"); + form_layout = new QFormLayout(groupbox); chart_series_type = new QComboBox(this); - chart_series_type->addItems({tr("Line"), tr("Scatter")}); + chart_series_type->addItems({tr("Line"), tr("Step Line"), tr("Scatter")}); chart_series_type->setCurrentIndex(settings.chart_series_type); form_layout->addRow(tr("Chart Default Series Type"), chart_series_type); @@ -74,21 +115,56 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { chart_height->setSingleStep(10); chart_height->setValue(settings.chart_height); form_layout->addRow(tr("Chart Height"), chart_height); + main_layout->addWidget(groupbox); + + log_livestream = new QGroupBox(tr("Enable live stream logging"), this); + log_livestream->setCheckable(true); + QHBoxLayout *path_layout = new QHBoxLayout(log_livestream); + path_layout->addWidget(log_path = new QLineEdit(settings.log_path, this)); + log_path->setReadOnly(true); + auto browse_btn = new QPushButton(tr("B&rowse...")); + path_layout->addWidget(browse_btn); + main_layout->addWidget(log_livestream); + - auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); - form_layout->addRow(buttonBox); + auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel | QDialogButtonBox::Apply); + main_layout->addWidget(buttonBox); + main_layout->addStretch(1); - setFixedWidth(360); - connect(buttonBox, &QDialogButtonBox::accepted, this, &SettingsDlg::save); - connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); + QObject::connect(browse_btn, &QPushButton::clicked, [this]() { + QString fn = QFileDialog::getExistingDirectory( + this, tr("Log File Location"), + QStandardPaths::writableLocation(QStandardPaths::HomeLocation), + QFileDialog::ShowDirsOnly | QFileDialog::DontResolveSymlinks); + if (!fn.isEmpty()) { + log_path->setText(fn); + } + }); + QObject::connect(buttonBox, &QDialogButtonBox::clicked, [=](QAbstractButton *button) { + auto role = buttonBox->buttonRole(button); + if (role == QDialogButtonBox::AcceptRole) { + save(); + accept(); + } else if (role == QDialogButtonBox::ApplyRole) { + save(); + } else if (role == QDialogButtonBox::RejectRole) { + reject(); + } + }); } void SettingsDlg::save() { settings.fps = fps->value(); + if (std::exchange(settings.theme, theme->currentIndex()) != settings.theme) { + // set theme before emit changed + utils::setTheme(settings.theme); + } settings.max_cached_minutes = cached_minutes->value(); settings.chart_series_type = chart_series_type->currentIndex(); settings.chart_height = chart_height->value(); + settings.log_livestream = log_livestream->isChecked(); + settings.log_path = log_path->text(); + settings.drag_direction = (Settings::DragDirection)drag_direction->currentIndex(); settings.save(); - accept(); emit settings.changed(); } diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index a302d20077..b8a3797f86 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -1,24 +1,43 @@ #pragma once #include +#include #include #include +#include +#include #include +#define LIGHT_THEME 1 +#define DARK_THEME 2 + class Settings : public QObject { Q_OBJECT public: + enum DragDirection { + MsbFirst, + LsbFirst, + AlwaysLE, + AlwaysBE, + }; + Settings(); void save(); void load(); int fps = 10; - int max_cached_minutes = 5; + 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 theme = 0; + int sparkline_range = 15; // 15 seconds + bool multiple_lines_bytes = true; + bool log_livestream = true; + bool suppress_defined_signals = false; + QString log_path; QString last_dir; QString last_route_dir; QByteArray geometry; @@ -26,6 +45,7 @@ public: QByteArray window_state; QStringList recent_files; QByteArray message_header_state; + DragDirection drag_direction; signals: void changed(); @@ -41,6 +61,10 @@ public: QSpinBox *cached_minutes; QSpinBox *chart_height; QComboBox *chart_series_type; + QComboBox *theme; + QGroupBox *log_livestream; + QLineEdit *log_path; + QComboBox *drag_direction; }; extern Settings settings; diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc deleted file mode 100644 index e2be5c85d0..0000000000 --- a/tools/cabana/signaledit.cc +++ /dev/null @@ -1,461 +0,0 @@ -#include "tools/cabana/signaledit.h" - -#include -#include -#include -#include -#include -#include -#include - -#include "tools/cabana/commands.h" - -// SignalModel - -SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(parent) { - QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &SignalModel::refresh); - QObject::connect(dbc(), &DBCManager::msgUpdated, this, &SignalModel::handleMsgChanged); - QObject::connect(dbc(), &DBCManager::msgRemoved, this, &SignalModel::handleMsgChanged); - QObject::connect(dbc(), &DBCManager::signalAdded, this, &SignalModel::handleSignalAdded); - QObject::connect(dbc(), &DBCManager::signalUpdated, this, &SignalModel::handleSignalUpdated); - QObject::connect(dbc(), &DBCManager::signalRemoved, this, &SignalModel::handleSignalRemoved); - QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalModel::updateState); -} - -void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const Signal *sig) { - Item *item = new Item{.sig = sig, .parent = parent_item, .title = sig->name.c_str(), .type = Item::Sig}; - parent_item->children.insert(pos, item); - QString titles[]{"Name", "Size", "Little Endian", "Signed", "Offset", "Factor", "Extra Info", "Unit", "Comment", "Minimum", "Maximum", "Description"}; - for (int i = 0; i < std::size(titles); ++i) { - item->children.push_back(new Item{.sig = sig, .parent = item, .title = titles[i], .type = (Item::Type)(i + Item::Name)}); - } -} - -void SignalModel::setMessage(const MessageId &id) { - msg_id = id; - filter_str = ""; - refresh(); - updateState(nullptr); -} - -void SignalModel::setFilter(const QString &txt) { - filter_str = txt; - refresh(); -} - -void SignalModel::refresh() { - beginResetModel(); - root.reset(new SignalModel::Item); - if (auto msg = dbc()->msg(msg_id)) { - for (auto &s : msg->getSignals()) { - if (filter_str.isEmpty() || QString::fromStdString(s->name).contains(filter_str, Qt::CaseInsensitive)) { - insertItem(root.get(), root->children.size(), s); - } - } - } - endResetModel(); -} - -void SignalModel::updateState(const QHash *msgs) { - if (!msgs || (msgs->contains(msg_id))) { - auto &dat = can->lastMessage(msg_id).dat; - int row = 0; - for (auto item : root->children) { - double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *item->sig); - item->sig_val = QString::number(value); - emit dataChanged(index(row, 1), index(row, 1), {Qt::DisplayRole}); - ++row; - } - } -} - -int SignalModel::rowCount(const QModelIndex &parent) const { - if (parent.column() > 0) return 0; - - auto parent_item = getItem(parent); - int row_count = parent_item->children.size(); - if (parent_item->type == Item::Sig && !parent_item->extra_expanded) { - row_count -= (Item::Desc - Item::ExtraInfo); - } - return row_count; -} - -Qt::ItemFlags SignalModel::flags(const QModelIndex &index) const { - if (!index.isValid()) return Qt::NoItemFlags; - - auto item = getItem(index); - Qt::ItemFlags flags = Qt::ItemIsSelectable | Qt::ItemIsEnabled; - if (index.column() == 1 && item->type != Item::Sig && item->type != Item::ExtraInfo) { - flags |= (item->type == Item::Endian || item->type == Item::Signed) ? Qt::ItemIsUserCheckable : Qt::ItemIsEditable; - } - return flags; -} - -int SignalModel::signalRow(const Signal *sig) const { - auto &children = root->children; - for (int i = 0; i < children.size(); ++i) { - if (children[i]->sig == sig) return i; - } - return -1; -} - -QModelIndex SignalModel::index(int row, int column, const QModelIndex &parent) const { - if (!hasIndex(row, column, parent)) return {}; - return createIndex(row, column, getItem(parent)->children[row]); -} - -QModelIndex SignalModel::parent(const QModelIndex &index) const { - if (!index.isValid()) return {}; - Item *parent_item = getItem(index)->parent; - return parent_item == root.get() ? QModelIndex() : createIndex(parent_item->row(), 0, parent_item); -} - -QVariant SignalModel::data(const QModelIndex &index, int role) const { - if (index.isValid()) { - const Item *item = getItem(index); - if (role == Qt::DisplayRole || role == Qt::EditRole) { - if (index.column() == 0) { - return item->type == Item::Sig ? QString::fromStdString(item->sig->name) : item->title; - } else { - switch (item->type) { - case Item::Sig: return item->sig_val; - case Item::Name: return QString::fromStdString(item->sig->name); - case Item::Size: return item->sig->size; - case Item::Offset: return QString::number(item->sig->offset, 'f', 6); - case Item::Factor: return QString::number(item->sig->factor, 'f', 6); - default: break; - } - } - } else if (role == Qt::CheckStateRole && index.column() == 1) { - if (item->type == Item::Endian) return item->sig->is_little_endian ? Qt::Checked : Qt::Unchecked; - 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"); - } - } - return {}; -} - -bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int role) { - if (role != Qt::EditRole && role != Qt::CheckStateRole) return false; - - Item *item = getItem(index); - Signal s = *item->sig; - switch (item->type) { - case Item::Name: s.name = value.toString().toStdString(); break; - case Item::Size: s.size = value.toInt(); break; - case Item::Endian: s.is_little_endian = value.toBool(); break; - case Item::Signed: s.is_signed = value.toBool(); break; - case Item::Offset: s.offset = value.toDouble(); break; - case Item::Factor: s.factor = value.toDouble(); break; - default: return false; - } - bool ret = saveSignal(item->sig, s); - emit dataChanged(index, index, {Qt::DisplayRole, Qt::EditRole, Qt::CheckStateRole}); - return ret; -} - -void SignalModel::showExtraInfo(const QModelIndex &index) { - auto item = getItem(index); - if (item->type == Item::ExtraInfo) { - if (!item->parent->extra_expanded) { - item->parent->extra_expanded = true; - beginInsertRows(index.parent(), 7, 13); - endInsertRows(); - } else { - item->parent->extra_expanded = false; - beginRemoveRows(index.parent(), 7, 13); - endRemoveRows(); - } - } -} - -bool SignalModel::saveSignal(const Signal *origin_s, Signal &s) { - auto msg = dbc()->msg(msg_id); - if (s.name != origin_s->name && msg->sigs.count(s.name.c_str()) != 0) { - QString text = tr("There is already a signal with the same name '%1'").arg(s.name.c_str()); - QMessageBox::warning(nullptr, tr("Failed to save signal"), text); - return false; - } - - if (s.is_little_endian != origin_s->is_little_endian) { - int start = std::floor(s.start_bit / 8); - if (s.is_little_endian) { - int end = std::floor((s.start_bit - s.size + 1) / 8); - s.start_bit = start == end ? s.start_bit - s.size + 1 : bigEndianStartBitsIndex(s.start_bit); - } else { - int end = std::floor((s.start_bit + s.size - 1) / 8); - s.start_bit = start == end ? s.start_bit + s.size - 1 : bigEndianBitIndex(s.start_bit); - } - } - if (s.is_little_endian) { - s.lsb = s.start_bit; - s.msb = s.start_bit + s.size - 1; - } else { - s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); - s.msb = s.start_bit; - } - - UndoStack::push(new EditSignalCommand(msg_id, origin_s, s)); - return true; -} - -void SignalModel::addSignal(int start_bit, int size, bool little_endian) { - auto msg = dbc()->msg(msg_id); - for (int i = 1; !msg; ++i) { - QString name = QString("NEW_MSG_%1").arg(i); - if (std::none_of(dbc()->messages().begin(), dbc()->messages().end(), [&](auto &m) { return m.second.name == name; })) { - UndoStack::push(new EditMsgCommand(msg_id, name, can->lastMessage(msg_id).dat.size())); - msg = dbc()->msg(msg_id); - } - } - - Signal sig = {.is_little_endian = little_endian, .factor = 1}; - for (int i = 1; /**/; ++i) { - sig.name = "NEW_SIGNAL_" + std::to_string(i); - if (msg->sigs.count(sig.name.c_str()) == 0) break; - } - updateSigSizeParamsFromRange(sig, start_bit, size); - UndoStack::push(new AddSigCommand(msg_id, sig)); -} - -void SignalModel::resizeSignal(const Signal *sig, int start_bit, int size) { - Signal s = *sig; - updateSigSizeParamsFromRange(s, start_bit, size); - saveSignal(sig, s); -} - -void SignalModel::removeSignal(const Signal *sig) { - UndoStack::push(new RemoveSigCommand(msg_id, sig)); -} - -void SignalModel::handleMsgChanged(uint32_t address) { - if (address == msg_id.address) { - refresh(); - } -} - -void SignalModel::handleSignalAdded(uint32_t address, const Signal *sig) { - if (address == msg_id.address) { - int i = 0; - for (; i < root->children.size(); ++i) { - if (sig->start_bit < root->children[i]->sig->start_bit) break; - } - beginInsertRows({}, i, i); - insertItem(root.get(), i, sig); - endInsertRows(); - } -} - -void SignalModel::handleSignalUpdated(const Signal *sig) { - if (int row = signalRow(sig); row != -1) { - emit dataChanged(index(row, 0), index(row, 1), {Qt::DisplayRole, Qt::EditRole, Qt::CheckStateRole}); - } -} - -void SignalModel::handleSignalRemoved(const Signal *sig) { - if (int row = signalRow(sig); row != -1) { - beginRemoveRows({}, row, row); - delete root->children.takeAt(row); - endRemoveRows(); - } -} - -// SignalItemDelegate - -SignalItemDelegate::SignalItemDelegate(QObject *parent) { - name_validator = new NameValidator(this); - double_validator = new QDoubleValidator(this); - small_font.setPointSize(8); - double_validator->setLocale(QLocale::C); // Match locale of QString::toDouble() instead of system -} - -void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { - auto item = (SignalModel::Item *)index.internalPointer(); - if (item && !index.parent().isValid() && index.column() == 0) { - painter->save(); - painter->setRenderHint(QPainter::Antialiasing); - if (option.state & QStyle::State_Selected) { - painter->fillRect(option.rect, option.palette.highlight()); - } - - // color label - auto bg_color = getColor(item->sig); - QRect rc{option.rect.left(), option.rect.top(), 18, option.rect.height()}; - painter->setPen(Qt::NoPen); - painter->setBrush(item->highlight ? bg_color.darker(125) : bg_color); - painter->drawRoundedRect(rc.adjusted(0, 2, 0, -2), 3, 3); - painter->setPen(item->highlight ? Qt::white : Qt::black); - painter->setFont(small_font); - painter->drawText(rc, Qt::AlignCenter, QString::number(item->row() + 1)); - - // signal name - painter->setFont(option.font); - painter->setPen((option.state & QStyle::State_Selected ? option.palette.highlightedText() : option.palette.text()).color()); - QString text = index.data(Qt::DisplayRole).toString(); - QRect text_rect = option.rect.adjusted(rc.width() + 6, 0, 0, 0); - text = painter->fontMetrics().elidedText(text, Qt::ElideRight, text_rect.width()); - painter->drawText(text_rect, option.displayAlignment, text); - painter->restore(); - } else { - QStyledItemDelegate::paint(painter, option, index); - } -} - -QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const { - auto item = (SignalModel::Item *)index.internalPointer(); - if (item->type == SignalModel::Item::Name || item->type == SignalModel::Item::Offset || item->type == SignalModel::Item::Factor) { - QLineEdit *e = new QLineEdit(parent); - e->setFrame(false); - e->setValidator(index.row() == 0 ? name_validator : double_validator); - return e; - } else if (item->type == SignalModel::Item::Size) { - QSpinBox *spin = new QSpinBox(parent); - spin->setFrame(false); - spin->setRange(1, 64); - return spin; - } - return QStyledItemDelegate::createEditor(parent, option, index); -} - -// SignalView - -SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) { - // title bar - QWidget *title_bar = new QWidget(this); - title_bar->setAutoFillBackground(true); - QHBoxLayout *hl = new QHBoxLayout(title_bar); - hl->addWidget(signal_count_lb = new QLabel()); - filter_edit = new QLineEdit(this); - filter_edit->setClearButtonEnabled(true); - filter_edit->setPlaceholderText(tr("filter signals by name")); - hl->addWidget(filter_edit); - hl->addStretch(1); - auto collapse_btn = new QToolButton(); - collapse_btn->setIcon(utils::icon("dash-square")); - collapse_btn->setIconSize({12, 12}); - collapse_btn->setAutoRaise(true); - collapse_btn->setToolTip(tr("Collapse All")); - hl->addWidget(collapse_btn); - - // tree view - tree = new QTreeView(this); - tree->setModel(model = new SignalModel(this)); - tree->setItemDelegate(new SignalItemDelegate(this)); - tree->setFrameShape(QFrame::NoFrame); - tree->setHeaderHidden(true); - tree->setMouseTracking(true); - tree->setExpandsOnDoubleClick(false); - tree->header()->setSectionResizeMode(QHeaderView::Stretch); - tree->setMinimumHeight(300); - tree->setStyleSheet("QSpinBox{background-color:white;border:none;} QLineEdit{background-color:white;}"); - - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); - main_layout->setSpacing(0); - main_layout->addWidget(title_bar); - main_layout->addWidget(tree); - - QObject::connect(filter_edit, &QLineEdit::textEdited, model, &SignalModel::setFilter); - 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); }); - QObject::connect(tree, &QTreeView::entered, [this](const QModelIndex &index) { emit highlight(model->getItem(index)->sig); }); - QObject::connect(model, &QAbstractItemModel::modelReset, this, &SignalView::rowsChanged); - QObject::connect(model, &QAbstractItemModel::rowsInserted, this, &SignalView::rowsChanged); - QObject::connect(model, &QAbstractItemModel::rowsRemoved, this, &SignalView::rowsChanged); - QObject::connect(dbc(), &DBCManager::signalAdded, [this](uint32_t address, const Signal *sig) { expandSignal(sig); }); - - setWhatsThis(tr(R"( - Signal view
- - )")); -} - -void SignalView::setMessage(const MessageId &id) { - msg_id = id; - filter_edit->clear(); - model->setMessage(id); -} - -void SignalView::rowsChanged() { - auto create_btn = [](const QString &id, const QString &tooltip) { - auto btn = new QToolButton(); - btn->setIcon(utils::icon(id)); - btn->setToolTip(tooltip); - btn->setAutoRaise(true); - return btn; - }; - - signal_count_lb->setText(tr("Signals: %1").arg(model->rowCount())); - - for (int i = 0; i < model->rowCount(); ++i) { - auto index = model->index(i, 1); - if (!tree->indexWidget(index)) { - QWidget *w = new QWidget(this); - QHBoxLayout *h = new QHBoxLayout(w); - h->setContentsMargins(0, 2, 0, 2); - h->addStretch(1); - - auto remove_btn = create_btn("x", tr("Remove signal")); - auto plot_btn = create_btn("graph-up", ""); - plot_btn->setCheckable(true); - h->addWidget(plot_btn); - h->addWidget(remove_btn); - - tree->setIndexWidget(index, w); - auto sig = model->getItem(index)->sig; - QObject::connect(remove_btn, &QToolButton::clicked, [=]() { model->removeSignal(sig); }); - QObject::connect(plot_btn, &QToolButton::clicked, [=](bool checked) { - emit showChart(msg_id, sig, checked, QGuiApplication::keyboardModifiers() & Qt::ShiftModifier); - }); - } - } - updateChartState(); -} - -void SignalView::rowClicked(const QModelIndex &index) { - auto item = model->getItem(index); - if (item->type == SignalModel::Item::Sig) { - auto sig_index = model->index(index.row(), 0, index.parent()); - tree->setExpanded(sig_index, !tree->isExpanded(sig_index)); - } else if (item->type == SignalModel::Item::ExtraInfo) { - model->showExtraInfo(index); - } -} - -void SignalView::expandSignal(const Signal *sig) { - if (int row = model->signalRow(sig); row != -1) { - auto idx = model->index(row, 0); - bool expand = !tree->isExpanded(idx); - tree->setExpanded(idx, expand); - tree->scrollTo(idx, QAbstractItemView::PositionAtTop); - if (expand) tree->setCurrentIndex(idx); - } -} - -void SignalView::updateChartState() { - int i = 0; - for (auto item : model->root->children) { - auto plot_btn = tree->indexWidget(model->index(i, 1))->findChildren()[0]; - bool chart_opened = charts->hasSignal(msg_id, item->sig); - plot_btn->setChecked(chart_opened); - plot_btn->setToolTip(chart_opened ? tr("Close Plot") : tr("Show Plot\nSHIFT click to add to previous opened plot")); - ++i; - } -} - -void SignalView::signalHovered(const Signal *sig) { - auto &children = model->root->children; - for (int i = 0; i < children.size(); ++i) { - bool highlight = children[i]->sig == sig; - if (std::exchange(children[i]->highlight, highlight) != highlight) { - emit model->dataChanged(model->index(i, 0), model->index(i, 0)); - } - } -} - -void SignalView::leaveEvent(QEvent *event) { - emit highlight(nullptr); - QWidget::leaveEvent(event); -} diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h deleted file mode 100644 index 7e5015f707..0000000000 --- a/tools/cabana/signaledit.h +++ /dev/null @@ -1,99 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include - -#include "tools/cabana/chartswidget.h" -#include "tools/cabana/dbcmanager.h" -#include "tools/cabana/streams/abstractstream.h" - -class SignalModel : public QAbstractItemModel { - Q_OBJECT -public: - struct Item { - enum Type {Root, Sig, Name, Size, Endian, Signed, Offset, Factor, ExtraInfo, Unit, Comment, Min, Max, Desc }; - ~Item() { qDeleteAll(children); } - inline int row() { return parent->children.indexOf(this); } - - Type type = Type::Root; - Item *parent = nullptr; - QList children; - - const Signal *sig = nullptr; - QString title; - bool highlight = false; - bool extra_expanded = false; - QString sig_val = "-"; - }; - - SignalModel(QObject *parent); - int rowCount(const QModelIndex &parent = QModelIndex()) const override; - int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 2; } - QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override; - QModelIndex index(int row, int column, const QModelIndex &parent = QModelIndex()) const override; - QModelIndex parent(const QModelIndex &index) const override; - Qt::ItemFlags flags(const QModelIndex &index) const override; - bool setData(const QModelIndex &index, const QVariant &value, int role = Qt::EditRole) override; - void setMessage(const MessageId &id); - void setFilter(const QString &txt); - void addSignal(int start_bit, int size, bool little_endian); - bool saveSignal(const Signal *origin_s, Signal &s); - void resizeSignal(const Signal *sig, int start_bit, int size); - void removeSignal(const Signal *sig); - inline Item *getItem(const QModelIndex &index) const { return index.isValid() ? (Item *)index.internalPointer() : root.get(); } - int signalRow(const Signal *sig) const; - void showExtraInfo(const QModelIndex &index); - -private: - void insertItem(SignalModel::Item *parent_item, int pos, const Signal *sig); - void handleSignalAdded(uint32_t address, const Signal *sig); - void handleSignalUpdated(const Signal *sig); - void handleSignalRemoved(const Signal *sig); - void handleMsgChanged(uint32_t address); - void refresh(); - void updateState(const QHash *msgs); - - MessageId msg_id; - QString filter_str; - std::unique_ptr root; - friend class SignalView; -}; - -class SignalItemDelegate : public QStyledItemDelegate { -public: - SignalItemDelegate(QObject *parent); - void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; - QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const override; - QValidator *name_validator, *double_validator; - QFont small_font; -}; - -class SignalView : public QWidget { - Q_OBJECT - -public: - SignalView(ChartsWidget *charts, QWidget *parent); - void setMessage(const MessageId &id); - void signalHovered(const Signal *sig); - void updateChartState(); - void expandSignal(const Signal *sig); - void rowClicked(const QModelIndex &index); - SignalModel *model = nullptr; - -signals: - void highlight(const Signal *sig); - void showChart(const MessageId &id, const Signal *sig, bool show, bool merge); - -private: - void rowsChanged(); - void leaveEvent(QEvent *event); - - MessageId msg_id; - QTreeView *tree; - QLineEdit *filter_edit; - ChartsWidget *charts; - QLabel *signal_count_lb; -}; diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc new file mode 100644 index 0000000000..b501f14a7c --- /dev/null +++ b/tools/cabana/signalview.cc @@ -0,0 +1,712 @@ +#include "tools/cabana/signalview.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "tools/cabana/commands.h" + +// SignalModel + +SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(parent) { + QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &SignalModel::refresh); + QObject::connect(dbc(), &DBCManager::msgUpdated, this, &SignalModel::handleMsgChanged); + QObject::connect(dbc(), &DBCManager::msgRemoved, this, &SignalModel::handleMsgChanged); + QObject::connect(dbc(), &DBCManager::signalAdded, this, &SignalModel::handleSignalAdded); + QObject::connect(dbc(), &DBCManager::signalUpdated, this, &SignalModel::handleSignalUpdated); + QObject::connect(dbc(), &DBCManager::signalRemoved, this, &SignalModel::handleSignalRemoved); +} + +void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig) { + Item *item = new Item{.sig = sig, .parent = parent_item, .title = sig->name, .type = Item::Sig}; + parent_item->children.insert(pos, item); + QString titles[]{"Name", "Size", "Little Endian", "Signed", "Offset", "Factor", "Extra Info", "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Descriptions"}; + for (int i = 0; i < std::size(titles); ++i) { + item->children.push_back(new Item{.sig = sig, .parent = item, .title = titles[i], .type = (Item::Type)(i + Item::Name)}); + } +} + +void SignalModel::setMessage(const MessageId &id) { + msg_id = id; + filter_str = ""; + refresh(); +} + +void SignalModel::setFilter(const QString &txt) { + filter_str = txt; + refresh(); +} + +void SignalModel::refresh() { + beginResetModel(); + root.reset(new SignalModel::Item); + if (auto msg = dbc()->msg(msg_id)) { + for (auto s : msg->getSignals()) { + if (filter_str.isEmpty() || s->name.contains(filter_str, Qt::CaseInsensitive)) { + insertItem(root.get(), root->children.size(), s); + } + } + } + endResetModel(); +} + +SignalModel::Item *SignalModel::getItem(const QModelIndex &index) const { + SignalModel::Item *item = nullptr; + if (index.isValid()) { + item = (SignalModel::Item *)index.internalPointer(); + } + return item ? item : root.get(); +} + +int SignalModel::rowCount(const QModelIndex &parent) const { + if (parent.isValid() && parent.column() > 0) return 0; + + auto parent_item = getItem(parent); + int row_count = parent_item->children.size(); + if (parent_item->type == Item::Sig && !parent_item->extra_expanded) { + row_count -= (Item::Desc - Item::ExtraInfo); + } + return row_count; +} + +Qt::ItemFlags SignalModel::flags(const QModelIndex &index) const { + if (!index.isValid()) return Qt::NoItemFlags; + + auto item = getItem(index); + Qt::ItemFlags flags = Qt::ItemIsSelectable | Qt::ItemIsEnabled; + if (index.column() == 1 && item->type != Item::Sig && item->type != Item::ExtraInfo) { + flags |= (item->type == Item::Endian || item->type == Item::Signed) ? Qt::ItemIsUserCheckable : Qt::ItemIsEditable; + } + return flags; +} + +int SignalModel::signalRow(const cabana::Signal *sig) const { + for (int i = 0; i < root->children.size(); ++i) { + if (root->children[i]->sig == sig) return i; + } + return -1; +} + +QModelIndex SignalModel::index(int row, int column, const QModelIndex &parent) const { + if (parent.isValid() && parent.column() != 0) return {}; + + auto parent_item = getItem(parent); + if (parent_item && row < parent_item->children.size()) { + return createIndex(row, column, parent_item->children[row]); + } + return {}; +} + +QModelIndex SignalModel::parent(const QModelIndex &index) const { + if (!index.isValid()) return {}; + Item *parent_item = getItem(index)->parent; + return !parent_item || parent_item == root.get() ? QModelIndex() : createIndex(parent_item->row(), 0, parent_item); +} + +QVariant SignalModel::data(const QModelIndex &index, int role) const { + if (index.isValid()) { + const Item *item = getItem(index); + if (role == Qt::DisplayRole || role == Qt::EditRole) { + if (index.column() == 0) { + return item->type == Item::Sig ? item->sig->name : item->title; + } else { + switch (item->type) { + case Item::Sig: return item->sig_val; + case Item::Name: return item->sig->name; + case Item::Size: return item->sig->size; + case Item::Offset: return doubleToString(item->sig->offset); + case Item::Factor: return doubleToString(item->sig->factor); + case Item::Unit: return item->sig->unit; + case Item::Comment: return item->sig->comment; + case Item::Min: return doubleToString(item->sig->min); + case Item::Max: return doubleToString(item->sig->max); + case Item::Desc: { + QStringList val_desc; + for (auto &[val, desc] : item->sig->val_desc) { + val_desc << QString("%1 \"%2\"").arg(val, desc); + } + return val_desc.join(" "); + } + default: break; + } + } + } else if (role == Qt::CheckStateRole && index.column() == 1) { + if (item->type == Item::Endian) return item->sig->is_little_endian ? Qt::Checked : Qt::Unchecked; + 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 {}; +} + +bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int role) { + if (role != Qt::EditRole && role != Qt::CheckStateRole) return false; + + Item *item = getItem(index); + cabana::Signal s = *item->sig; + switch (item->type) { + case Item::Name: s.name = value.toString(); break; + case Item::Size: s.size = value.toInt(); break; + case Item::Endian: s.is_little_endian = value.toBool(); break; + case Item::Signed: s.is_signed = value.toBool(); break; + case Item::Offset: s.offset = value.toDouble(); break; + case Item::Factor: s.factor = value.toDouble(); break; + case Item::Unit: s.unit = value.toString(); break; + case Item::Comment: s.comment = value.toString(); break; + case Item::Min: s.min = value.toDouble(); break; + case Item::Max: s.max = value.toDouble(); break; + case Item::Desc: s.val_desc = value.value(); break; + default: return false; + } + s.updatePrecision(); + bool ret = saveSignal(item->sig, s); + emit dataChanged(index, index, {Qt::DisplayRole, Qt::EditRole, Qt::CheckStateRole}); + return ret; +} + +void SignalModel::showExtraInfo(const QModelIndex &index) { + auto item = getItem(index); + if (item->type == Item::ExtraInfo) { + if (!item->parent->extra_expanded) { + item->parent->extra_expanded = true; + beginInsertRows(index.parent(), 7, 13); + endInsertRows(); + } else { + item->parent->extra_expanded = false; + beginRemoveRows(index.parent(), 7, 13); + endRemoveRows(); + } + } +} + +bool SignalModel::saveSignal(const cabana::Signal *origin_s, cabana::Signal &s) { + auto msg = dbc()->msg(msg_id); + if (s.name != origin_s->name && msg->sig(s.name) != nullptr) { + QString text = tr("There is already a signal with the same name '%1'").arg(s.name); + QMessageBox::warning(nullptr, tr("Failed to save signal"), text); + return false; + } + + if (s.is_little_endian != origin_s->is_little_endian) { + int start = std::floor(s.start_bit / 8); + if (s.is_little_endian) { + int end = std::floor((s.start_bit - s.size + 1) / 8); + s.start_bit = start == end ? s.start_bit - s.size + 1 : bigEndianStartBitsIndex(s.start_bit); + } else { + int end = std::floor((s.start_bit + s.size - 1) / 8); + s.start_bit = start == end ? s.start_bit + s.size - 1 : bigEndianBitIndex(s.start_bit); + } + } + if (s.is_little_endian) { + s.lsb = s.start_bit; + s.msb = s.start_bit + s.size - 1; + } else { + s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); + s.msb = s.start_bit; + } + + UndoStack::push(new EditSignalCommand(msg_id, origin_s, s)); + return true; +} + +void SignalModel::addSignal(int start_bit, int size, bool little_endian) { + auto msg = dbc()->msg(msg_id); + if (!msg) { + QString name = dbc()->newMsgName(msg_id); + UndoStack::push(new EditMsgCommand(msg_id, name, can->lastMessage(msg_id).dat.size(), "")); + msg = dbc()->msg(msg_id); + } + + cabana::Signal sig = {.name = dbc()->newSignalName(msg_id), .is_little_endian = little_endian, .factor = 1, .min = 0, .max = std::pow(2, size) - 1}; + updateSigSizeParamsFromRange(sig, start_bit, size); + UndoStack::push(new AddSigCommand(msg_id, sig)); +} + +void SignalModel::resizeSignal(const cabana::Signal *sig, int start_bit, int size) { + cabana::Signal s = *sig; + updateSigSizeParamsFromRange(s, start_bit, size); + saveSignal(sig, s); +} + +void SignalModel::removeSignal(const cabana::Signal *sig) { + UndoStack::push(new RemoveSigCommand(msg_id, sig)); + if (dbc()->signalCount(msg_id) == 0) { + UndoStack::push(new RemoveMsgCommand(msg_id)); + } +} + +void SignalModel::handleMsgChanged(MessageId id) { + if (id == msg_id) { + refresh(); + } +} + +void SignalModel::handleSignalAdded(MessageId id, const cabana::Signal *sig) { + if (id == msg_id) { + int i = 0; + for (; i < root->children.size(); ++i) { + if (sig->start_bit < root->children[i]->sig->start_bit) break; + } + beginInsertRows({}, i, i); + insertItem(root.get(), i, sig); + endInsertRows(); + } +} + +void SignalModel::handleSignalUpdated(const cabana::Signal *sig) { + if (int row = signalRow(sig); row != -1) { + emit dataChanged(index(row, 0), index(row, 1), {Qt::DisplayRole, Qt::EditRole, Qt::CheckStateRole}); + } +} + +void SignalModel::handleSignalRemoved(const cabana::Signal *sig) { + if (int row = signalRow(sig); row != -1) { + beginRemoveRows({}, row, row); + delete root->children.takeAt(row); + endRemoveRows(); + } +} + +// SignalItemDelegate + +SignalItemDelegate::SignalItemDelegate(QObject *parent) : QStyledItemDelegate(parent) { + name_validator = new NameValidator(this); + + QLocale locale(QLocale::C); + locale.setNumberOptions(QLocale::RejectGroupSeparator); + double_validator = new QDoubleValidator(this); + double_validator->setLocale(locale); // Match locale of QString::toDouble() instead of system + + label_font.setPointSize(8); + minmax_font.setPixelSize(10); +} + +QSize SignalItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const { + int width = option.widget->size().width() / 2; + if (index.column() == 0) { + auto text = index.data(Qt::DisplayRole).toString(); + auto it = width_cache.find(text); + if (it == width_cache.end()) { + 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(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::updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const { + auto item = (SignalModel::Item *)index.internalPointer(); + if (editor && item->type == SignalModel::Item::Sig && index.column() == 1) { + QRect geom = option.rect; + geom.setLeft(geom.right() - editor->sizeHint().width()); + editor->setGeometry(geom); + button_size = geom.size(); + return; + } + QStyledItemDelegate::updateEditorGeometry(editor, option, index); +} + +void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { + auto item = (SignalModel::Item *)index.internalPointer(); + if (item && item->type == SignalModel::Item::Sig) { + painter->setRenderHint(QPainter::Antialiasing); + if (option.state & QStyle::State_Selected) { + painter->fillRect(option.rect, option.palette.highlight()); + } + + int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1; + int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin); + QRect r = option.rect.adjusted(h_margin, v_margin, -h_margin, -v_margin); + if (index.column() == 0) { + // color label + QPainterPath path; + QRect icon_rect{r.x(), r.y(), color_label_width, r.height()}; + path.addRoundedRect(icon_rect, 3, 3); + painter->setPen(item->highlight ? Qt::white : Qt::black); + painter->setFont(label_font); + painter->fillPath(path, getColor(item->sig).darker(item->highlight ? 125 : 0)); + painter->drawText(icon_rect, Qt::AlignCenter, QString::number(item->row() + 1)); + + r.setLeft(icon_rect.right() + h_margin * 2); + auto text = option.fontMetrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, r.width()); + painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text)); + painter->setFont(option.font); + painter->drawText(r, option.displayAlignment, text); + } else if (index.column() == 1) { + // sparkline + QSize sparkline_size = item->sparkline.pixmap.size() / item->sparkline.pixmap.devicePixelRatio(); + painter->drawPixmap(QRect(r.topLeft(), sparkline_size), item->sparkline.pixmap); + // min-max value + painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text)); + QRect rect = r.adjusted(sparkline_size.width() + 1, 0, 0, 0); + int value_adjust = 10; + if (item->highlight || option.state & QStyle::State_Selected) { + painter->drawLine(rect.topLeft(), rect.bottomLeft()); + rect.adjust(5, -v_margin, 0, v_margin); + painter->setFont(minmax_font); + QString min = QString::number(item->sparkline.min_val); + QString max = QString::number(item->sparkline.max_val); + painter->drawText(rect, Qt::AlignLeft | Qt::AlignTop, max); + painter->drawText(rect, Qt::AlignLeft | Qt::AlignBottom, min); + QFontMetrics fm(minmax_font); + value_adjust = std::max(fm.width(min), fm.width(max)) + 5; + } + // value + painter->setFont(option.font); + rect.adjust(value_adjust, 0, -button_size.width(), 0); + auto text = option.fontMetrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, rect.width()); + painter->drawText(rect, Qt::AlignRight | Qt::AlignVCenter, text); + } + } else { + QStyledItemDelegate::paint(painter, option, index); + } +} + +QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const { + auto item = (SignalModel::Item *)index.internalPointer(); + if (item->type == SignalModel::Item::Name || item->type == SignalModel::Item::Offset || + item->type == SignalModel::Item::Factor || item->type == SignalModel::Item::Min || item->type == SignalModel::Item::Max) { + QLineEdit *e = new QLineEdit(parent); + e->setFrame(false); + e->setValidator(index.row() == 0 ? name_validator : double_validator); + + if (item->type == SignalModel::Item::Name) { + QCompleter *completer = new QCompleter(dbc()->signalNames()); + completer->setCaseSensitivity(Qt::CaseInsensitive); + completer->setFilterMode(Qt::MatchContains); + e->setCompleter(completer); + } + + return e; + } else if (item->type == SignalModel::Item::Size) { + QSpinBox *spin = new QSpinBox(parent); + spin->setFrame(false); + spin->setRange(1, 64); + return spin; + } else if (item->type == SignalModel::Item::Desc) { + ValueDescriptionDlg dlg(item->sig->val_desc, parent); + dlg.setWindowTitle(item->sig->name); + if (dlg.exec()) { + ((QAbstractItemModel *)index.model())->setData(index, QVariant::fromValue(dlg.val_desc)); + } + return nullptr; + } + return QStyledItemDelegate::createEditor(parent, option, index); +} + +// SignalView + +SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), QFrame(parent) { + setFrameStyle(QFrame::StyledPanel | QFrame::Plain); + // title bar + QWidget *title_bar = new QWidget(this); + QHBoxLayout *hl = new QHBoxLayout(title_bar); + hl->addWidget(signal_count_lb = new QLabel()); + filter_edit = new QLineEdit(this); + QRegularExpression re("\\S+"); + filter_edit->setValidator(new QRegularExpressionValidator(re, this)); + filter_edit->setClearButtonEnabled(true); + 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 = new ToolButton("dash-square", tr("Collapse All")); + collapse_btn->setIconSize({12, 12}); + hl->addWidget(collapse_btn); + + // tree view + tree = new TreeView(this); + tree->setModel(model = new SignalModel(this)); + tree->setItemDelegate(delegate = new SignalItemDelegate(this)); + tree->setFrameShape(QFrame::NoFrame); + tree->setHeaderHidden(true); + tree->setMouseTracking(true); + tree->setExpandsOnDoubleClick(false); + tree->header()->setSectionResizeMode(0, QHeaderView::ResizeToContents); + tree->header()->setStretchLastSection(true); + tree->setMinimumHeight(300); + tree->setStyleSheet("QSpinBox{background-color:white;border:none;} QLineEdit{background-color:white;}"); + + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + 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); }); + QObject::connect(tree, &QTreeView::entered, [this](const QModelIndex &index) { emit highlight(model->getItem(index)->sig); }); + QObject::connect(model, &QAbstractItemModel::modelReset, this, &SignalView::rowsChanged); + QObject::connect(model, &QAbstractItemModel::rowsRemoved, this, &SignalView::rowsChanged); + QObject::connect(dbc(), &DBCManager::signalAdded, [this](MessageId id, const cabana::Signal *sig) { selectSignal(sig); }); + QObject::connect(dbc(), &DBCManager::signalUpdated, this, &SignalView::handleSignalUpdated); + QObject::connect(tree->verticalScrollBar(), &QScrollBar::valueChanged, [this]() { updateState(); }); + QObject::connect(tree->verticalScrollBar(), &QScrollBar::rangeChanged, [this]() { updateState(); }); + QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalView::updateState); + + setWhatsThis(tr(R"( + Signal view
+ + )")); +} + +void SignalView::setMessage(const MessageId &id) { + max_value_width = 0; + filter_edit->clear(); + model->setMessage(id); +} + +void SignalView::rowsChanged() { + for (int i = 0; i < model->rowCount(); ++i) { + auto index = model->index(i, 1); + if (!tree->indexWidget(index)) { + QWidget *w = new QWidget(this); + QHBoxLayout *h = new QHBoxLayout(w); + int v_margin = style()->pixelMetric(QStyle::PM_FocusFrameVMargin); + int h_margin = style()->pixelMetric(QStyle::PM_FocusFrameHMargin); + h->setContentsMargins(0, v_margin, -h_margin, v_margin); + h->setSpacing(style()->pixelMetric(QStyle::PM_ToolBarItemSpacing)); + + auto remove_btn = new ToolButton("x", tr("Remove signal")); + auto plot_btn = new ToolButton("graph-up", ""); + plot_btn->setCheckable(true); + h->addWidget(plot_btn); + h->addWidget(remove_btn); + + tree->setIndexWidget(index, w); + auto sig = model->getItem(index)->sig; + QObject::connect(remove_btn, &QToolButton::clicked, [=]() { model->removeSignal(sig); }); + QObject::connect(plot_btn, &QToolButton::clicked, [=](bool checked) { + emit showChart(model->msg_id, sig, checked, QGuiApplication::keyboardModifiers() & Qt::ShiftModifier); + }); + } + } + updateToolBar(); + updateChartState(); + updateState(); +} + +void SignalView::rowClicked(const QModelIndex &index) { + auto item = model->getItem(index); + if (item->type == SignalModel::Item::Sig) { + auto sig_index = model->index(index.row(), 0, index.parent()); + tree->setExpanded(sig_index, !tree->isExpanded(sig_index)); + } else if (item->type == SignalModel::Item::ExtraInfo) { + model->showExtraInfo(index); + } +} + +void SignalView::selectSignal(const cabana::Signal *sig, bool expand) { + if (int row = model->signalRow(sig); row != -1) { + auto idx = model->index(row, 0); + if (expand) { + tree->setExpanded(idx, !tree->isExpanded(idx)); + } + tree->scrollTo(idx, QAbstractItemView::PositionAtTop); + tree->setCurrentIndex(idx); + } +} + +void SignalView::updateChartState() { + int i = 0; + for (auto item : model->root->children) { + bool chart_opened = charts->hasSignal(model->msg_id, item->sig); + auto buttons = tree->indexWidget(model->index(i, 1))->findChildren(); + if (buttons.size() > 0) { + buttons[0]->setChecked(chart_opened); + buttons[0]->setToolTip(chart_opened ? tr("Close Plot") : tr("Show Plot\nSHIFT click to add to previous opened plot")); + } + ++i; + } +} + +void SignalView::signalHovered(const cabana::Signal *sig) { + auto &children = model->root->children; + for (int i = 0; i < children.size(); ++i) { + bool highlight = children[i]->sig == sig; + if (std::exchange(children[i]->highlight, highlight) != highlight) { + emit model->dataChanged(model->index(i, 0), model->index(i, 0), {Qt::DecorationRole}); + emit model->dataChanged(model->index(i, 1), model->index(i, 1), {Qt::DisplayRole}); + } + } +} + +void SignalView::updateToolBar() { + signal_count_lb->setText(tr("Signals: %1").arg(model->rowCount())); + sparkline_label->setText(utils::formatSeconds(settings.sparkline_range)); +} + +void SignalView::setSparklineRange(int value) { + settings.sparkline_range = value; + updateToolBar(); + updateState(); +} + +void SignalView::handleSignalUpdated(const cabana::Signal *sig) { + if (int row = model->signalRow(sig); row != -1) { + auto item = model->getItem(model->index(row, 1)); + // invalidate the sparkline + item->sparkline.last_ts = 0; + updateState(); + } +} + +void SignalView::updateState(const QHash *msgs) { + const auto &last_msg = can->lastMessage(model->msg_id); + if (model->rowCount() == 0 || (msgs && !msgs->contains(model->msg_id)) || last_msg.dat.size() == 0) return; + + for (auto item : model->root->children) { + double value = get_raw_value((uint8_t *)last_msg.dat.constData(), last_msg.dat.size(), *item->sig); + item->sig_val = item->sig->formatValue(value); + max_value_width = std::max(max_value_width, fontMetrics().width(item->sig_val)); + } + + QModelIndex top = tree->indexAt(QPoint(0, 0)); + if (top.isValid()) { + // update visible sparkline + int first_visible_row = top.parent().isValid() ? top.parent().row() + 1 : top.row(); + int last_visible_row = model->rowCount() - 1; + QModelIndex bottom = tree->indexAt(tree->viewport()->rect().bottomLeft()); + if (bottom.isValid()) { + last_visible_row = bottom.parent().isValid() ? bottom.parent().row() : bottom.row(); + } + + QSize size(tree->columnWidth(1) - delegate->button_size.width(), delegate->button_size.height()); + int min_max_width = std::min(size.width() - 10, QFontMetrics(delegate->minmax_font).width("-000.00") + 5); + int value_width = std::min(max_value_width, size.width() * 0.35); + size -= {value_width + min_max_width, style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2}; + + QFutureSynchronizer synchronizer; + for (int i = first_visible_row; i <= last_visible_row; ++i) { + auto item = model->getItem(model->index(i, 1)); + auto &s = item->sparkline; + if (s.last_ts != last_msg.ts || s.size() != size || s.time_range != settings.sparkline_range) { + synchronizer.addFuture(QtConcurrent::run( + &s, &Sparkline::update, model->msg_id, item->sig, last_msg.ts, settings.sparkline_range, size)); + } + } + } + + for (int i = 0; i < model->rowCount(); ++i) { + emit model->dataChanged(model->index(i, 1), model->index(i, 1), {Qt::DisplayRole}); + } +} + +void SignalView::resizeEvent(QResizeEvent* event) { + updateState(); + QFrame::resizeEvent(event); +} + +void SignalView::leaveEvent(QEvent *event) { + emit highlight(nullptr); + QWidget::leaveEvent(event); +} + +// ValueDescriptionDlg + +ValueDescriptionDlg::ValueDescriptionDlg(const ValueDescription &descriptions, QWidget *parent) : QDialog(parent) { + QHBoxLayout *toolbar_layout = new QHBoxLayout(); + QPushButton *add = new QPushButton(utils::icon("plus"), ""); + QPushButton *remove = new QPushButton(utils::icon("dash"), ""); + remove->setEnabled(false); + toolbar_layout->addWidget(add); + toolbar_layout->addWidget(remove); + toolbar_layout->addStretch(0); + + table = new QTableWidget(descriptions.size(), 2, this); + table->setItemDelegate(new Delegate(this)); + table->setHorizontalHeaderLabels({"Value", "Description"}); + table->horizontalHeader()->setStretchLastSection(true); + table->setSelectionBehavior(QAbstractItemView::SelectRows); + table->setSelectionMode(QAbstractItemView::SingleSelection); + table->setEditTriggers(QAbstractItemView::DoubleClicked | QAbstractItemView::EditKeyPressed); + table->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); + + int row = 0; + for (auto &[val, desc] : descriptions) { + table->setItem(row, 0, new QTableWidgetItem(val)); + table->setItem(row, 1, new QTableWidgetItem(desc)); + ++row; + } + + auto btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->addLayout(toolbar_layout); + main_layout->addWidget(table); + main_layout->addWidget(btn_box); + setMinimumWidth(500); + + QObject::connect(btn_box, &QDialogButtonBox::accepted, this, &ValueDescriptionDlg::save); + QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject); + QObject::connect(add, &QPushButton::clicked, [this]() { + table->setRowCount(table->rowCount() + 1); + table->setItem(table->rowCount() - 1, 0, new QTableWidgetItem); + table->setItem(table->rowCount() - 1, 1, new QTableWidgetItem); + }); + QObject::connect(remove, &QPushButton::clicked, [this]() { table->removeRow(table->currentRow()); }); + QObject::connect(table, &QTableWidget::itemSelectionChanged, [=]() { + remove->setEnabled(table->currentRow() != -1); + }); +} + +void ValueDescriptionDlg::save() { + for (int i = 0; i < table->rowCount(); ++i) { + QString val = table->item(i, 0)->text().trimmed(); + QString desc = table->item(i, 1)->text().trimmed(); + if (!val.isEmpty() && !desc.isEmpty()) { + val_desc.push_back({val, desc}); + } + } + QDialog::accept(); +} + +QWidget *ValueDescriptionDlg::Delegate::createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const { + QLineEdit *edit = new QLineEdit(parent); + edit->setFrame(false); + if (index.column() == 0) { + edit->setValidator(new QIntValidator(edit)); + } + return edit; +} diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h new file mode 100644 index 0000000000..02741234a6 --- /dev/null +++ b/tools/cabana/signalview.h @@ -0,0 +1,144 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include + +#include "tools/cabana/chart/chartswidget.h" +#include "tools/cabana/chart/sparkline.h" + +class SignalModel : public QAbstractItemModel { + Q_OBJECT +public: + struct Item { + enum Type {Root, Sig, Name, Size, Endian, Signed, Offset, Factor, ExtraInfo, Unit, Comment, Min, Max, Desc }; + ~Item() { qDeleteAll(children); } + inline int row() { return parent->children.indexOf(this); } + + Type type = Type::Root; + Item *parent = nullptr; + QList children; + + const cabana::Signal *sig = nullptr; + QString title; + bool highlight = false; + bool extra_expanded = false; + QString sig_val = "-"; + Sparkline sparkline; + }; + + SignalModel(QObject *parent); + int rowCount(const QModelIndex &parent = QModelIndex()) const override; + int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 2; } + QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override; + QModelIndex index(int row, int column, const QModelIndex &parent = QModelIndex()) const override; + QModelIndex parent(const QModelIndex &index) const override; + Qt::ItemFlags flags(const QModelIndex &index) const override; + bool setData(const QModelIndex &index, const QVariant &value, int role = Qt::EditRole) override; + void setMessage(const MessageId &id); + void setFilter(const QString &txt); + void addSignal(int start_bit, int size, bool little_endian); + bool saveSignal(const cabana::Signal *origin_s, cabana::Signal &s); + void resizeSignal(const cabana::Signal *sig, int start_bit, int size); + void removeSignal(const cabana::Signal *sig); + Item *getItem(const QModelIndex &index) const; + int signalRow(const cabana::Signal *sig) const; + void showExtraInfo(const QModelIndex &index); + +private: + void insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig); + void handleSignalAdded(MessageId id, const cabana::Signal *sig); + void handleSignalUpdated(const cabana::Signal *sig); + void handleSignalRemoved(const cabana::Signal *sig); + void handleMsgChanged(MessageId id); + void refresh(); + + MessageId msg_id; + QString filter_str; + std::unique_ptr root; + friend class SignalView; + friend class SignalItemDelegate; +}; + +class ValueDescriptionDlg : public QDialog { +public: + ValueDescriptionDlg(const ValueDescription &descriptions, QWidget *parent); + ValueDescription val_desc; + +private: + struct Delegate : public QStyledItemDelegate { + Delegate(QWidget *parent) : QStyledItemDelegate(parent) {} + QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const override; + }; + + void save(); + QTableWidget *table; +}; + +class SignalItemDelegate : public QStyledItemDelegate { +public: + SignalItemDelegate(QObject *parent); + 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; + bool helpEvent(QHelpEvent *event, QAbstractItemView *view, const QStyleOptionViewItem &option, const QModelIndex &index) override; + void updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const override; + + QValidator *name_validator, *double_validator; + QFont label_font, minmax_font; + const int color_label_width = 18; + mutable QSize button_size; + mutable QHash width_cache; +}; + +class SignalView : public QFrame { + Q_OBJECT + +public: + SignalView(ChartsWidget *charts, QWidget *parent); + void setMessage(const MessageId &id); + void signalHovered(const cabana::Signal *sig); + void updateChartState(); + void selectSignal(const cabana::Signal *sig, bool expand = false); + void rowClicked(const QModelIndex &index); + SignalModel *model = nullptr; + +signals: + void highlight(const cabana::Signal *sig); + void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge); + +private: + void rowsChanged(); + void leaveEvent(QEvent *event) override; + void resizeEvent(QResizeEvent* event) override; + void updateToolBar(); + void setSparklineRange(int value); + void handleSignalUpdated(const cabana::Signal *sig); + void updateState(const QHash *msgs = nullptr); + + struct TreeView : public QTreeView { + TreeView(QWidget *parent) : QTreeView(parent) {} + void rowsInserted(const QModelIndex &parent, int start, int end) override { + ((SignalView *)parentWidget())->rowsChanged(); + // update widget geometries in QTreeView::rowsInserted + QTreeView::rowsInserted(parent, start, end); + } + void dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector &roles = QVector()) override { + // Bypass the slow call to QTreeView::dataChanged. + QAbstractItemView::dataChanged(topLeft, bottomRight, roles); + } + }; + int max_value_width = 0; + TreeView *tree; + QLabel *sparkline_label; + QSlider *sparkline_range_slider; + QLineEdit *filter_edit; + ChartsWidget *charts; + QLabel *signal_count_lb; + SignalItemDelegate *delegate; + friend SignalItemDelegate; +}; diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index 8fdfbd5c1b..dc23421a8c 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -1,96 +1,235 @@ #include "tools/cabana/streams/abstractstream.h" +#include + AbstractStream *can = nullptr; -AbstractStream::AbstractStream(QObject *parent, bool is_live_streaming) : is_live_streaming(is_live_streaming), QObject(parent) { - can = this; - new_msgs = std::make_unique>(); - QObject::connect(this, &AbstractStream::received, this, &AbstractStream::process, Qt::QueuedConnection); +StreamNotifier *StreamNotifier::instance() { + static StreamNotifier notifier; + return ¬ifier; +} + +AbstractStream::AbstractStream(QObject *parent) : new_msgs(new QHash()), QObject(parent) { + assert(parent != nullptr); QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo); + QObject::connect(this, &AbstractStream::streamStarted, [this]() { + emit StreamNotifier::instance()->changingStream(); + delete can; + can = this; + emit StreamNotifier::instance()->streamStarted(); + }); } -void AbstractStream::process(QHash *messages) { +void AbstractStream::updateMessages(QHash *messages) { + auto prev_src_size = sources.size(); + auto prev_msg_size = last_msgs.size(); for (auto it = messages->begin(); it != messages->end(); ++it) { - can_msgs[it.key()] = it.value(); + const auto &id = it.key(); + last_msgs[id] = it.value(); + sources.insert(id.source); + } + if (sources.size() != prev_src_size) { + emit sourcesUpdated(sources); } emit updated(); - emit msgsReceived(messages); + emit msgsReceived(messages, prev_msg_size != last_msgs.size()); delete messages; processing = false; } -bool AbstractStream::updateEvent(const Event *event) { - static double prev_update_ts = 0; - - if (event->which == cereal::Event::Which::CAN) { - double current_sec = event->mono_time / 1e9 - routeStartTime(); - for (const auto &c : event->event.getCan()) { - MessageId id = {.source = c.getSrc(), .address = c.getAddress()}; - CanData &data = (*new_msgs)[id]; - data.ts = current_sec; - data.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size()); - data.count = ++counters[id]; - data.freq = data.count / std::max(1.0, current_sec); - change_trackers[id].compute(data.dat, data.ts, data.freq); - data.colors = change_trackers[id].colors; - data.last_change_t = change_trackers[id].last_change_t; - data.bit_change_counts = change_trackers[id].bit_change_counts; - } +void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size) { + QList mask = settings.suppress_defined_signals ? dbc()->mask(id) : QList(); + all_msgs[id].compute((const char *)data, size, sec, getSpeed(), mask); + if (!new_msgs->contains(id)) { + new_msgs->insert(id, {}); + } +} - double ts = millis_since_boot(); - if ((ts - prev_update_ts) > (1000.0 / settings.fps) && !processing && !new_msgs->isEmpty()) { - // delay posting CAN message if UI thread is busy - processing = true; - prev_update_ts = ts; - // use pointer to avoid data copy in queued connection. - emit received(new_msgs.release()); - new_msgs.reset(new QHash); - new_msgs->reserve(100); +bool AbstractStream::postEvents() { + // delay posting CAN message if UI thread is busy + if (processing.exchange(true) == false) { + for (auto it = new_msgs->begin(); it != new_msgs->end(); ++it) { + it.value() = all_msgs[it.key()]; } + // use pointer to avoid data copy in queued connection. + QMetaObject::invokeMethod(this, std::bind(&AbstractStream::updateMessages, this, new_msgs.release()), Qt::QueuedConnection); + new_msgs.reset(new QHash); + new_msgs->reserve(100); + return true; } - return true; + return false; +} + +const std::vector &AbstractStream::events(const MessageId &id) const { + static std::vector empty_events; + auto it = events_.find(id); + return it != events_.end() ? it->second : empty_events; } const CanData &AbstractStream::lastMessage(const MessageId &id) { - static CanData empty_data; - auto it = can_msgs.find(id); - return it != can_msgs.end() ? it.value() : empty_data; + static CanData empty_data = {}; + auto it = last_msgs.find(id); + return it != last_msgs.end() ? it.value() : empty_data; } +// it is thread safe to update data in updateLastMsgsTo. +// updateLastMsgsTo is always called in UI thread. void AbstractStream::updateLastMsgsTo(double sec) { - QHash last_msgs; - last_msgs.reserve(can_msgs.size()); - double route_start_time = routeStartTime(); - uint64_t last_ts = (sec + route_start_time) * 1e9; - auto evs = events(); - auto last = std::upper_bound(evs->rbegin(), evs->rend(), last_ts, [](uint64_t ts, auto &e) { return e->mono_time < ts; }); - for (auto it = last; it != evs->rend(); ++it) { + new_msgs.reset(new QHash); + all_msgs.clear(); + last_msgs.clear(); + + uint64_t last_ts = (sec + routeStartTime()) * 1e9; + for (auto &[id, ev] : events_) { + auto it = std::lower_bound(ev.crbegin(), ev.crend(), last_ts, [](auto e, uint64_t ts) { + return e->mono_time > ts; + }); + QList mask = settings.suppress_defined_signals ? dbc()->mask(id) : QList(); + if (it != ev.crend()) { + double ts = (*it)->mono_time / 1e9 - routeStartTime(); + auto &m = all_msgs[id]; + m.compute((const char *)(*it)->dat, (*it)->size, ts, getSpeed(), mask); + m.count = std::distance(it, ev.crend()); + m.freq = m.count / std::max(1.0, ts); + } + } + last_msgs = all_msgs; + // use a timer to prevent recursive calls + QTimer::singleShot(0, [this]() { + emit updated(); + emit msgsReceived(&last_msgs, true); + }); +} + +void AbstractStream::mergeEvents(std::vector::const_iterator first, std::vector::const_iterator last) { + size_t memory_size = 0; + size_t events_cnt = 0; + for (auto it = first; it != last; ++it) { if ((*it)->which == cereal::Event::Which::CAN) { for (const auto &c : (*it)->event.getCan()) { - auto &m = last_msgs[{.source = c.getSrc(), .address = c.getAddress()}]; - if (++m.count == 1) { - m.ts = ((*it)->mono_time / 1e9) - route_start_time; - m.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size()); - m.colors = QVector(m.dat.size(), QColor(0, 0, 0, 0)); - m.last_change_t = QVector(m.dat.size(), m.ts); - m.bit_change_counts.resize(m.dat.size()); - } else { - m.freq = m.count / std::max(1.0, m.ts); - } + memory_size += sizeof(CanEvent) + sizeof(uint8_t) * c.getDat().size(); + ++events_cnt; } } } + if (memory_size == 0) return; - // it is thread safe to update data here. - // updateEvent will not be called before replayStream::seekedTo return. - new_msgs->clear(); - change_trackers.clear(); - counters.clear(); - can_msgs.clear(); - for (auto it = last_msgs.cbegin(); it != last_msgs.cend(); ++it) { - can_msgs[it.key()] = it.value(); - counters[it.key()] = it.value().count; + char *ptr = memory_blocks.emplace_back(new char[memory_size]).get(); + std::unordered_map> new_events_map; + std::vector new_events; + new_events.reserve(events_cnt); + for (auto it = first; it != last; ++it) { + if ((*it)->which == cereal::Event::Which::CAN) { + uint64_t ts = (*it)->mono_time; + for (const auto &c : (*it)->event.getCan()) { + CanEvent *e = (CanEvent *)ptr; + e->src = c.getSrc(); + e->address = c.getAddress(); + e->mono_time = ts; + auto dat = c.getDat(); + e->size = dat.size(); + memcpy(e->dat, (uint8_t *)dat.begin(), e->size); + + new_events_map[{.source = e->src, .address = e->address}].push_back(e); + new_events.push_back(e); + ptr += sizeof(CanEvent) + sizeof(uint8_t) * e->size; + } + } } - emit updated(); - emit msgsReceived(&can_msgs); + + bool append = new_events.front()->mono_time > lastest_event_ts; + for (auto &[id, new_e] : new_events_map) { + auto &e = events_[id]; + auto pos = append ? e.end() : std::upper_bound(e.cbegin(), e.cend(), new_e.front(), [](const CanEvent *l, const CanEvent *r) { + return l->mono_time < r->mono_time; + }); + e.insert(pos, new_e.cbegin(), new_e.cend()); + } + + auto pos = append ? all_events_.end() : std::upper_bound(all_events_.begin(), all_events_.end(), new_events.front(), [](auto l, auto r) { + return l->mono_time < r->mono_time; + }); + all_events_.insert(pos, new_events.cbegin(), new_events.cend()); + + lastest_event_ts = all_events_.back()->mono_time; + emit eventsMerged(); +} + +// CanData + +constexpr int periodic_threshold = 10; +constexpr int start_alpha = 128; +constexpr float fade_time = 2.0; +const QColor CYAN = QColor(0, 187, 255, start_alpha); +const QColor RED = QColor(255, 0, 0, start_alpha); +const QColor GREYISH_BLUE = QColor(102, 86, 169, start_alpha / 2); +const QColor CYAN_LIGHTER = QColor(0, 187, 255, start_alpha).lighter(135); +const QColor RED_LIGHTER = QColor(255, 0, 0, start_alpha).lighter(135); +const QColor GREYISH_BLUE_LIGHTER = QColor(102, 86, 169, start_alpha / 2).lighter(135); + +static inline QColor blend(const QColor &a, const QColor &b) { + return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2); +} + +void CanData::compute(const char *can_data, const int size, double current_sec, double playback_speed, const QList &mask, uint32_t in_freq) { + ts = current_sec; + ++count; + const double sec_to_first_event = current_sec - (can->allEvents().front()->mono_time / 1e9 - can->routeStartTime()); + freq = in_freq == 0 ? count / std::max(1.0, sec_to_first_event) : in_freq; + if (dat.size() != size) { + dat.resize(size); + bit_change_counts.resize(size); + colors = QVector(size, QColor(0, 0, 0, 0)); + last_change_t = QVector(size, ts); + last_delta.resize(size); + same_delta_counter.resize(size); + } else { + bool lighter = settings.theme == DARK_THEME; + const QColor &cyan = !lighter ? CYAN : CYAN_LIGHTER; + const QColor &red = !lighter ? RED : RED_LIGHTER; + const QColor &greyish_blue = !lighter ? GREYISH_BLUE : GREYISH_BLUE_LIGHTER; + + for (int i = 0; i < size; ++i) { + const uint8_t mask_byte = (i < mask.size()) ? (~mask[i]) : 0xff; + const uint8_t last = dat[i] & mask_byte; + const uint8_t cur = can_data[i] & mask_byte; + const int delta = cur - last; + + if (last != cur) { + double delta_t = ts - last_change_t[i]; + + // Keep track if signal is changing randomly, or mostly moving in the same direction + if (std::signbit(delta) == std::signbit(last_delta[i])) { + same_delta_counter[i] = std::min(16, same_delta_counter[i] + 1); + } else { + same_delta_counter[i] = std::max(0, same_delta_counter[i] - 4); + } + + // Mostly moves in the same direction, color based on delta up/down + if (delta_t * freq > periodic_threshold || same_delta_counter[i] > 8) { + // Last change was while ago, choose color based on delta up or down + colors[i] = (cur > last) ? cyan : red; + } else { + // Periodic changes + colors[i] = blend(colors[i], greyish_blue); + } + + // Track bit level changes + const uint8_t tmp = (cur ^ last); + for (int bit = 0; bit < 8; bit++) { + if (tmp & (1 << bit)) { + bit_change_counts[i][bit] += 1; + } + } + + last_change_t[i] = ts; + last_delta[i] = delta; + } else { + // Fade out + float alpha_delta = 1.0 / (freq + 1) / (fade_time * playback_speed); + colors[i].setAlphaF(std::max(0.0, colors[i].alphaF() - alpha_delta)); + } + } + } + memcpy(dat.data(), can_data, size); } diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index e582682971..cdb939b948 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -1,46 +1,62 @@ #pragma once +#include #include - +#include +#include #include #include -#include "tools/cabana/dbcmanager.h" +#include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/settings.h" #include "tools/cabana/util.h" #include "tools/replay/replay.h" struct CanData { + void compute(const char *dat, const int size, double current_sec, double playback_speed, const QList &mask, uint32_t in_freq = 0); + double ts = 0.; uint32_t count = 0; - uint32_t freq = 0; + double freq = 0; QByteArray dat; QVector colors; QVector last_change_t; QVector> bit_change_counts; + QVector last_delta; + QVector same_delta_counter; +}; + +struct CanEvent { + uint8_t src; + uint32_t address; + uint64_t mono_time; + uint8_t size; + uint8_t dat[]; }; class AbstractStream : public QObject { Q_OBJECT public: - AbstractStream(QObject *parent, bool is_live_streaming); + AbstractStream(QObject *parent); virtual ~AbstractStream() {}; - inline bool liveStreaming() const { return is_live_streaming; } + virtual void start() = 0; + inline bool liveStreaming() const { return route() == nullptr; } virtual void seekTo(double ts) {} virtual QString routeName() const = 0; virtual QString carFingerprint() const { return ""; } - virtual double totalSeconds() const { return 0; } virtual double routeStartTime() const { return 0; } virtual double currentSec() const = 0; - virtual QDateTime currentDateTime() const { return {}; } - virtual const CanData &lastMessage(const MessageId &id); + virtual double totalSeconds() const { return lastEventMonoTime() / 1e9 - routeStartTime(); } + const CanData &lastMessage(const MessageId &id); virtual VisionStreamType visionStreamType() const { return VISION_STREAM_ROAD; } virtual const Route *route() const { return nullptr; } - virtual const std::vector *events() const = 0; virtual void setSpeed(float speed) {} + virtual double getSpeed() { return 1; } virtual bool isPaused() const { return false; } virtual void pause(bool pause) {} + const std::vector &allEvents() const { return all_events_; } + const std::vector &events(const MessageId &id) const; virtual const std::vector> getTimeline() { return {}; } signals: @@ -50,22 +66,57 @@ signals: void streamStarted(); void eventsMerged(); void updated(); - void msgsReceived(const QHash *); - void received(QHash *); + void msgsReceived(const QHash *new_msgs, bool has_new_ids); + void sourcesUpdated(const SourceSet &s); public: - QHash can_msgs; + QHash last_msgs; + SourceSet sources; protected: - void process(QHash *); - bool updateEvent(const Event *event); + void mergeEvents(std::vector::const_iterator first, std::vector::const_iterator last); + bool postEvents(); + uint64_t lastEventMonoTime() const { return lastest_event_ts; } + void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size); + void updateMessages(QHash *); void updateLastMsgsTo(double sec); - bool is_live_streaming = false; + uint64_t lastest_event_ts = 0; std::atomic processing = false; - QHash counters; std::unique_ptr> new_msgs; - QHash change_trackers; + QHash all_msgs; + std::unordered_map> events_; + std::vector all_events_; + std::deque> memory_blocks; +}; + +class AbstractOpenStreamWidget : public QWidget { +public: + AbstractOpenStreamWidget(AbstractStream **stream, QWidget *parent = nullptr) : stream(stream), QWidget(parent) {} + virtual bool open() = 0; + virtual QString title() = 0; + +protected: + AbstractStream **stream = nullptr; +}; + +class DummyStream : public AbstractStream { + Q_OBJECT +public: + DummyStream(QObject *parent) : AbstractStream(parent) {} + QString routeName() const override { return tr("No Stream"); } + void start() override { emit streamStarted(); } + double currentSec() const override { return 0; } +}; + +class StreamNotifier : public QObject { + Q_OBJECT +public: + StreamNotifier(QObject *parent = nullptr) : QObject(parent) {} + static StreamNotifier* instance(); +signals: + void streamStarted(); + void changingStream(); }; // A global pointer referring to the unique AbstractStream object diff --git a/tools/cabana/streams/devicestream.cc b/tools/cabana/streams/devicestream.cc new file mode 100644 index 0000000000..5631f64d68 --- /dev/null +++ b/tools/cabana/streams/devicestream.cc @@ -0,0 +1,69 @@ +#include "tools/cabana/streams/devicestream.h" + +#include +#include +#include +#include +#include + +// DeviceStream + +DeviceStream::DeviceStream(QObject *parent, QString address) : zmq_address(address), LiveStream(parent) { +} + +void DeviceStream::streamThread() { + zmq_address.isEmpty() ? unsetenv("ZMQ") : setenv("ZMQ", "1", 1); + + std::unique_ptr context(Context::create()); + std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString(); + std::unique_ptr sock(SubSocket::create(context.get(), "can", address)); + assert(sock != NULL); + sock->setTimeout(50); + // run as fast as messages come in + while (!QThread::currentThread()->isInterruptionRequested()) { + Message *msg = sock->receive(true); + if (!msg) { + QThread::msleep(50); + continue; + } + + handleEvent(msg->getData(), msg->getSize()); + delete msg; + } +} + +AbstractOpenStreamWidget *DeviceStream::widget(AbstractStream **stream) { + return new OpenDeviceWidget(stream); +} + +// OpenDeviceWidget + +OpenDeviceWidget::OpenDeviceWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) { + QRadioButton *msgq = new QRadioButton(tr("MSGQ")); + QRadioButton *zmq = new QRadioButton(tr("ZMQ")); + ip_address = new QLineEdit(this); + ip_address->setPlaceholderText(tr("Enter device Ip Address")); + QString ip_range = "(?:[0-1]?[0-9]?[0-9]|2[0-4][0-9]|25[0-5])"; + QString pattern("^" + ip_range + "\\." + ip_range + "\\." + ip_range + "\\." + ip_range + "$"); + QRegularExpression re(pattern); + ip_address->setValidator(new QRegularExpressionValidator(re, this)); + + group = new QButtonGroup(this); + group->addButton(msgq, 0); + group->addButton(zmq, 1); + + QFormLayout *form_layout = new QFormLayout(this); + form_layout->addRow(msgq); + form_layout->addRow(zmq, ip_address); + QObject::connect(group, qOverload(&QButtonGroup::buttonToggled), [=](QAbstractButton *button, bool checked) { + ip_address->setEnabled(button == zmq && checked); + }); + zmq->setChecked(true); +} + +bool OpenDeviceWidget::open() { + QString ip = ip_address->text().isEmpty() ? "127.0.0.1" : ip_address->text(); + bool msgq = group->checkedId() == 0; + *stream = new DeviceStream(qApp, msgq ? "" : ip); + return true; +} diff --git a/tools/cabana/streams/devicestream.h b/tools/cabana/streams/devicestream.h new file mode 100644 index 0000000000..a65f073458 --- /dev/null +++ b/tools/cabana/streams/devicestream.h @@ -0,0 +1,30 @@ +#pragma once + +#include "tools/cabana/streams/livestream.h" + +class DeviceStream : public LiveStream { + Q_OBJECT +public: + DeviceStream(QObject *parent, QString address = {}); + static AbstractOpenStreamWidget *widget(AbstractStream **stream); + inline QString routeName() const override { + return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address); + } + +protected: + void streamThread() override; + const QString zmq_address; +}; + +class OpenDeviceWidget : public AbstractOpenStreamWidget { + Q_OBJECT + +public: + OpenDeviceWidget(AbstractStream **stream); + bool open() override; + QString title() override { return tr("&Device"); } + +private: + QLineEdit *ip_address; + QButtonGroup *group; +}; diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc index b2fc7ea4a6..6ad929b2ee 100644 --- a/tools/cabana/streams/livestream.cc +++ b/tools/cabana/streams/livestream.cc @@ -1,102 +1,109 @@ #include "tools/cabana/streams/livestream.h" -LiveStream::LiveStream(QObject *parent, QString address) : zmq_address(address), AbstractStream(parent, true) { - timer = new QTimer(this); - timer->callOnTimeout(this, &LiveStream::removeExpiredEvents); - timer->start(3 * 1000); - +LiveStream::LiveStream(QObject *parent) : AbstractStream(parent) { + if (settings.log_livestream) { + std::string path = (settings.log_path + "/" + QDateTime::currentDateTime().toString("yyyy-MM-dd--hh-mm-ss") + "--0").toStdString(); + util::create_directories(path, 0755); + fs.reset(new std::ofstream(path + "/rlog", std::ios::binary | std::ios::out)); + } stream_thread = new QThread(this); + + QObject::connect(&settings, &Settings::changed, this, &LiveStream::startUpdateTimer); QObject::connect(stream_thread, &QThread::started, [=]() { streamThread(); }); QObject::connect(stream_thread, &QThread::finished, stream_thread, &QThread::deleteLater); - QTimer::singleShot(0, [this]() { stream_thread->start(); }); +} + +void LiveStream::startUpdateTimer() { + update_timer.stop(); + update_timer.start(1000.0 / settings.fps, this); + timer_id = update_timer.timerId(); +} + +void LiveStream::start() { + emit streamStarted(); + stream_thread->start(); + startUpdateTimer(); } LiveStream::~LiveStream() { + update_timer.stop(); stream_thread->requestInterruption(); stream_thread->quit(); stream_thread->wait(); - for (Event *e : can_events) ::delete e; - for (auto m : messages) delete m; } -void LiveStream::streamThread() { - if (!zmq_address.isEmpty()) { - setenv("ZMQ", "1", 1); +// called in streamThread +void LiveStream::handleEvent(const char *data, const size_t size) { + if (fs) { + fs->write(data, size); } - std::unique_ptr context(Context::create()); - std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString(); - std::unique_ptr sock(SubSocket::create(context.get(), "can", address)); - assert(sock != NULL); - sock->setTimeout(50); - // run as fast as messages come in - while (!QThread::currentThread()->isInterruptionRequested()) { - Message *msg = sock->receive(true); - if (!msg) { - QThread::msleep(50); - continue; - } - AlignedBuffer *buf = messages.emplace_back(new AlignedBuffer()); - Event *evt = ::new Event(buf->align(msg)); - delete msg; - handleEvent(evt); - // TODO: write stream to log file to replay it with cabana --data_dir flag. - } + std::lock_guard lk(lock); + auto &msg = receivedMessages.emplace_back(data, size); + receivedEvents.push_back(msg.event); } -void LiveStream::handleEvent(Event *evt) { - current_ts = evt->mono_time; - if (start_ts == 0 || current_ts < start_ts) { - if (current_ts < start_ts) { - qDebug() << "stream is looping back to old time stamp"; +void LiveStream::timerEvent(QTimerEvent *event) { + if (event->timerId() == timer_id) { + { + // merge events received from live stream thread. + std::lock_guard lk(lock); + mergeEvents(receivedEvents.cbegin(), receivedEvents.cend()); + receivedEvents.clear(); + receivedMessages.clear(); + } + if (!all_events_.empty()) { + begin_event_ts = all_events_.front()->mono_time; + updateEvents(); + return; } - start_ts = current_ts.load(); - emit streamStarted(); } + QObject::timerEvent(event); +} - std::lock_guard lk(lock); - can_events.push_back(evt); - if (!pause_) { - if (speed_ < 1 && last_update_ts > 0) { - auto it = std::upper_bound(can_events.begin(), can_events.end(), last_update_event_ts, [](uint64_t ts, auto &e) { - return ts < e->mono_time; - }); +void LiveStream::updateEvents() { + static double prev_speed = 1.0; - if (it != can_events.end() && - (nanos_since_boot() - last_update_ts) < ((*it)->mono_time - last_update_event_ts) / speed_) { - return; - } - evt = (*it); - } - updateEvent(evt); - last_update_event_ts = evt->mono_time; - last_update_ts = nanos_since_boot(); + if (first_update_ts == 0) { + first_update_ts = nanos_since_boot(); + first_event_ts = current_event_ts = all_events_.back()->mono_time; } -} -void LiveStream::removeExpiredEvents() { - std::lock_guard lk(lock); - if (can_events.size() > 0) { - const uint64_t max_ns = settings.max_cached_minutes * 60 * 1e9; - const uint64_t last_ns = can_events.back()->mono_time; - while (!can_events.empty() && (last_ns - can_events.front()->mono_time) > max_ns) { - ::delete can_events.front(); - delete messages.front(); - can_events.pop_front(); - messages.pop_front(); - } + if (paused_ || prev_speed != speed_) { + prev_speed = speed_; + first_update_ts = nanos_since_boot(); + first_event_ts = current_event_ts; + return; } + + uint64_t last_ts = post_last_event && speed_ == 1.0 + ? all_events_.back()->mono_time + : first_event_ts + (nanos_since_boot() - first_update_ts) * speed_; + auto first = std::upper_bound(all_events_.cbegin(), all_events_.cend(), current_event_ts, [](uint64_t ts, auto e) { + return ts < e->mono_time; + }); + auto last = std::upper_bound(first, all_events_.cend(), last_ts, [](uint64_t ts, auto e) { + return ts < e->mono_time; + }); + + for (auto it = first; it != last; ++it) { + const CanEvent *e = *it; + MessageId id = {.source = e->src, .address = e->address}; + updateEvent(id, (e->mono_time - begin_event_ts) / 1e9, e->dat, e->size); + current_event_ts = e->mono_time; + } + postEvents(); } -const std::vector *LiveStream::events() const { - events_vector.clear(); - std::lock_guard lk(lock); - events_vector.reserve(can_events.size()); - std::copy(can_events.begin(), can_events.end(), std::back_inserter(events_vector)); - return &events_vector; +void LiveStream::seekTo(double sec) { + sec = std::max(0.0, sec); + first_update_ts = nanos_since_boot(); + current_event_ts = first_event_ts = std::min(sec * 1e9 + begin_event_ts, lastEventMonoTime()); + post_last_event = (first_event_ts == lastEventMonoTime()); + emit seekedTo((current_event_ts - begin_event_ts) / 1e9); } void LiveStream::pause(bool pause) { - pause_ = pause; - emit paused(); + paused_ = pause; + emit(pause ? paused() : resume()); } diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h index ba20032b67..577074b415 100644 --- a/tools/cabana/streams/livestream.h +++ b/tools/cabana/streams/livestream.h @@ -1,41 +1,56 @@ #pragma once -#include +#include + #include "tools/cabana/streams/abstractstream.h" class LiveStream : public AbstractStream { Q_OBJECT public: - LiveStream(QObject *parent, QString address = {}); + LiveStream(QObject *parent); virtual ~LiveStream(); - inline QString routeName() const override { - return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address); - } - inline double routeStartTime() const override { return start_ts / (double)1e9; } - inline double currentSec() const override { return (current_ts - start_ts) / (double)1e9; } - void setSpeed(float speed) override { speed_ = std::min(1.0, speed); } - bool isPaused() const override { return pause_; } + void start() override; + inline double routeStartTime() const override { return begin_event_ts / 1e9; } + inline double currentSec() const override { return (current_event_ts - begin_event_ts) / 1e9; } + void setSpeed(float speed) override { speed_ = speed; } + double getSpeed() override { return speed_; } + bool isPaused() const override { return paused_; } void pause(bool pause) override; - const std::vector *events() const override; + void seekTo(double sec) override; protected: - virtual void handleEvent(Event *evt); - virtual void streamThread(); - virtual void removeExpiredEvents(); - - mutable std::mutex lock; - mutable std::vector events_vector; - std::deque can_events; - std::deque messages; - std::atomic start_ts = 0; - std::atomic current_ts = 0; - std::atomic speed_ = 1; - std::atomic pause_ = false; - uint64_t last_update_event_ts = 0; - uint64_t last_update_ts = 0; - - const QString zmq_address; + virtual void streamThread() = 0; + void handleEvent(const char *data, const size_t size); + +private: + void startUpdateTimer(); + void timerEvent(QTimerEvent *event) override; + void updateEvents(); + + struct Msg { + Msg(const char *data, const size_t size) { + event = ::new Event(aligned_buf.align(data, size)); + } + ~Msg() { ::delete event; } + Event *event; + AlignedBuffer aligned_buf; + }; + + std::mutex lock; QThread *stream_thread; - QTimer *timer; + std::vector receivedEvents; + std::deque receivedMessages; + + std::unique_ptr fs; + int timer_id; + QBasicTimer update_timer; + + uint64_t begin_event_ts = 0; + uint64_t current_event_ts = 0; + uint64_t first_event_ts = 0; + uint64_t first_update_ts = 0; + bool post_last_event = true; + double speed_ = 1; + bool paused_ = false; }; diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc new file mode 100644 index 0000000000..275ed84f43 --- /dev/null +++ b/tools/cabana/streams/pandastream.cc @@ -0,0 +1,207 @@ +#include "tools/cabana/streams/pandastream.h" + +#include +#include +#include +#include + +#include "selfdrive/ui/qt/util.h" + +PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) { + if (config.serial.isEmpty()) { + auto serials = Panda::list(); + if (serials.size() == 0) { + throw std::runtime_error("No panda found"); + } + config.serial = QString::fromStdString(serials[0]); + } + + qDebug() << "Connecting to panda with serial" << config.serial; + if (!connect()) { + throw std::runtime_error("Failed to connect to panda"); + } +} + +bool PandaStream::connect() { + try { + panda.reset(new Panda(config.serial.toStdString())); + config.bus_config.resize(3); + qDebug() << "Connected"; + } catch (const std::exception& e) { + return false; + } + + panda->set_safety_model(cereal::CarParams::SafetyModel::SILENT); + + for (int bus = 0; bus < config.bus_config.size(); bus++) { + panda->set_can_speed_kbps(bus, config.bus_config[bus].can_speed_kbps); + + // CAN-FD + if (panda->hw_type == cereal::PandaState::PandaType::RED_PANDA || panda->hw_type == cereal::PandaState::PandaType::RED_PANDA_V2) { + if (config.bus_config[bus].can_fd) { + panda->set_data_speed_kbps(bus, config.bus_config[bus].data_speed_kbps); + } else { + // Hack to disable can-fd by setting data speed to a low value + panda->set_data_speed_kbps(bus, 10); + } + } + + } + return true; +} + +void PandaStream::streamThread() { + std::vector raw_can_data; + + while (!QThread::currentThread()->isInterruptionRequested()) { + QThread::msleep(1); + + if (!panda->connected()) { + qDebug() << "Connection to panda lost. Attempting reconnect."; + if (!connect()){ + QThread::msleep(1000); + continue; + } + } + + raw_can_data.clear(); + if (!panda->can_receive(raw_can_data)) { + qDebug() << "failed to receive"; + continue; + } + + MessageBuilder msg; + auto evt = msg.initEvent(); + auto canData = evt.initCan(raw_can_data.size()); + + for (uint i = 0; isend_heartbeat(false); + } +} + +AbstractOpenStreamWidget *PandaStream::widget(AbstractStream **stream) { + return new OpenPandaWidget(stream); +} + +// OpenPandaWidget + +OpenPandaWidget::OpenPandaWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->addStretch(1); + + QFormLayout *form_layout = new QFormLayout(); + + QHBoxLayout *serial_layout = new QHBoxLayout(); + serial_edit = new QComboBox(); + serial_edit->setFixedWidth(300); + serial_layout->addWidget(serial_edit); + + QPushButton *refresh = new QPushButton(tr("Refresh")); + refresh->setFixedWidth(100); + serial_layout->addWidget(refresh); + form_layout->addRow(tr("Serial"), serial_layout); + main_layout->addLayout(form_layout); + + config_layout = new QFormLayout(); + main_layout->addLayout(config_layout); + + main_layout->addStretch(1); + + QObject::connect(refresh, &QPushButton::clicked, this, &OpenPandaWidget::refreshSerials); + QObject::connect(serial_edit, &QComboBox::currentTextChanged, this, &OpenPandaWidget::buildConfigForm); + + // Populate serials + refreshSerials(); + buildConfigForm(); +} + +void OpenPandaWidget::refreshSerials() { + serial_edit->clear(); + for (auto serial : Panda::list()) { + serial_edit->addItem(QString::fromStdString(serial)); + } +} + +void OpenPandaWidget::buildConfigForm() { + clearLayout(config_layout); + QString serial = serial_edit->currentText(); + + bool has_fd = false; + bool has_panda = !serial.isEmpty(); + + if (has_panda) { + try { + Panda panda = Panda(serial.toStdString()); + has_fd = (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA) || (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA_V2); + } catch (const std::exception& e) { + has_panda = false; + } + } + + if (has_panda) { + config.serial = serial; + config.bus_config.resize(3); + for (int i = 0; i < config.bus_config.size(); i++) { + QHBoxLayout *bus_layout = new QHBoxLayout; + + // CAN Speed + bus_layout->addWidget(new QLabel(tr("CAN Speed (kbps):"))); + QComboBox *can_speed = new QComboBox; + for (int j = 0; j < std::size(speeds); j++) { + can_speed->addItem(QString::number(speeds[j])); + + if (data_speeds[j] == config.bus_config[i].can_speed_kbps) { + can_speed->setCurrentIndex(j); + } + } + QObject::connect(can_speed, qOverload(&QComboBox::currentIndexChanged), [=](int index) {config.bus_config[i].can_speed_kbps = speeds[index];}); + bus_layout->addWidget(can_speed); + + // CAN-FD Speed + if (has_fd) { + QCheckBox *enable_fd = new QCheckBox("CAN-FD"); + bus_layout->addWidget(enable_fd); + bus_layout->addWidget(new QLabel(tr("Data Speed (kbps):"))); + QComboBox *data_speed = new QComboBox; + for (int j = 0; j < std::size(data_speeds); j++) { + data_speed->addItem(QString::number(data_speeds[j])); + + if (data_speeds[j] == config.bus_config[i].data_speed_kbps) { + data_speed->setCurrentIndex(j); + } + } + + data_speed->setEnabled(false); + bus_layout->addWidget(data_speed); + + QObject::connect(data_speed, qOverload(&QComboBox::currentIndexChanged), [=](int index) {config.bus_config[i].data_speed_kbps = data_speeds[index];}); + QObject::connect(enable_fd, &QCheckBox::stateChanged, data_speed, &QComboBox::setEnabled); + QObject::connect(enable_fd, &QCheckBox::stateChanged, [=](int state) {config.bus_config[i].can_fd = (bool)state;}); + } + + config_layout->addRow(tr("Bus %1:").arg(i), bus_layout); + } + } else { + config.serial = ""; + config_layout->addWidget(new QLabel(tr("No panda found"))); + } +} + +bool OpenPandaWidget::open() { + try { + *stream = new PandaStream(qApp, config); + } catch (std::exception &e) { + QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what())); + return false; + } + return true; +} diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h new file mode 100644 index 0000000000..f726c5cfb6 --- /dev/null +++ b/tools/cabana/streams/pandastream.h @@ -0,0 +1,56 @@ +#pragma once + +#include +#include +#include + +#include "tools/cabana/streams/livestream.h" +#include "selfdrive/boardd/panda.h" + +const uint32_t speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U}; +const uint32_t data_speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U, 2000U, 5000U}; + +struct BusConfig { + int can_speed_kbps = 500; + int data_speed_kbps = 2000; + bool can_fd = false; +}; + +struct PandaStreamConfig { + QString serial = ""; + std::vector bus_config; +}; + +class PandaStream : public LiveStream { + Q_OBJECT +public: + PandaStream(QObject *parent, PandaStreamConfig config_ = {}); + static AbstractOpenStreamWidget *widget(AbstractStream **stream); + inline QString routeName() const override { + return QString("Live Streaming From Panda %1").arg(config.serial); + } + +protected: + void streamThread() override; + bool connect(); + + std::unique_ptr panda; + PandaStreamConfig config = {}; +}; + +class OpenPandaWidget : public AbstractOpenStreamWidget { + Q_OBJECT + +public: + OpenPandaWidget(AbstractStream **stream); + bool open() override; + QString title() override { return tr("&Panda"); } + +private: + void refreshSerials(); + void buildConfigForm(); + + QComboBox *serial_edit; + QFormLayout *config_layout; + PandaStreamConfig config = {}; +}; diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index b768b94327..b5ea44be0c 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -1,43 +1,66 @@ #include "tools/cabana/streams/replaystream.h" -#include "tools/cabana/dbcmanager.h" +#include +#include +#include +#include +#include -ReplayStream::ReplayStream(uint32_t replay_flags, QObject *parent) : replay_flags(replay_flags), AbstractStream(parent, false) { +ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent) { + unsetenv("ZMQ"); + // TODO: Remove when OpenpilotPrefix supports ZMQ +#ifndef __APPLE__ + op_prefix = std::make_unique(); +#endif QObject::connect(&settings, &Settings::changed, [this]() { if (replay) replay->setSegmentCacheLimit(settings.max_cached_minutes); }); } -ReplayStream::~ReplayStream() { - if (replay) replay->stop(); -} - static bool event_filter(const Event *e, void *opaque) { return ((ReplayStream *)opaque)->eventFilter(e); } -bool ReplayStream::loadRoute(const QString &route, const QString &data_dir) { +void ReplayStream::mergeSegments() { + for (auto &[n, seg] : replay->segments()) { + if (seg && seg->isLoaded() && !processed_segments.count(n)) { + processed_segments.insert(n); + const auto &events = seg->log->events; + mergeEvents(events.cbegin(), events.cend()); + } + } +} + +bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags) { replay.reset(new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, nullptr, replay_flags, data_dir, this)); replay->setSegmentCacheLimit(settings.max_cached_minutes); replay->installEventFilter(event_filter, this); QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo); - QObject::connect(replay.get(), &Replay::segmentsMerged, this, &AbstractStream::eventsMerged); - QObject::connect(replay.get(), &Replay::streamStarted, this, &AbstractStream::streamStarted); - if (replay->load()) { - const auto &segments = replay->route()->segments(); - if (std::none_of(segments.begin(), segments.end(), [](auto &s) { return s.second.rlog.length() > 0; })) { - qWarning() << "no rlogs in route" << route; - return false; - } - replay->start(); - return true; - } - return false; + QObject::connect(replay.get(), &Replay::segmentsMerged, this, &ReplayStream::mergeSegments); + return replay->load(); +} + +void ReplayStream::start() { + emit streamStarted(); + replay->start(); } bool ReplayStream::eventFilter(const Event *event) { + static double prev_update_ts = 0; + // delay posting CAN message if UI thread is busy if (event->which == cereal::Event::Which::CAN) { - updateEvent(event); + double current_sec = event->mono_time / 1e9 - routeStartTime(); + for (const auto &c : event->event.getCan()) { + MessageId id = {.source = c.getSrc(), .address = c.getAddress()}; + const auto dat = c.getDat(); + updateEvent(id, current_sec, (const uint8_t*)dat.begin(), dat.size()); + } + double ts = millis_since_boot(); + if ((ts - prev_update_ts) > (1000.0 / settings.fps)) { + if (postEvents()) { + prev_update_ts = ts; + } + } } return true; } @@ -46,3 +69,63 @@ void ReplayStream::pause(bool pause) { replay->pause(pause); emit(pause ? paused() : resume()); } + + +AbstractOpenStreamWidget *ReplayStream::widget(AbstractStream **stream) { + return new OpenReplayWidget(stream); +} + +// OpenReplayWidget + +OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) { + // TODO: get route list from api.comma.ai + QGridLayout *grid_layout = new QGridLayout(); + grid_layout->addWidget(new QLabel(tr("Route")), 0, 0); + grid_layout->addWidget(route_edit = new QLineEdit(this), 0, 1); + route_edit->setPlaceholderText(tr("Enter remote route name or click browse to select a local route")); + auto file_btn = new QPushButton(tr("Browse..."), this); + grid_layout->addWidget(file_btn, 0, 2); + + grid_layout->addWidget(new QLabel(tr("Video")), 1, 0); + grid_layout->addWidget(choose_video_cb = new QComboBox(this), 1, 1); + QString items[] = {tr("No Video"), tr("Road Camera"), tr("Wide Road Camera"), tr("Driver Camera"), tr("QCamera")}; + for (int i = 0; i < std::size(items); ++i) { + choose_video_cb->addItem(items[i]); + } + choose_video_cb->setCurrentIndex(1); // default is road camera; + + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->addLayout(grid_layout); + setMinimumWidth(550); + + QObject::connect(file_btn, &QPushButton::clicked, [=]() { + QString dir = QFileDialog::getExistingDirectory(this, tr("Open Local Route"), settings.last_route_dir); + if (!dir.isEmpty()) { + route_edit->setText(dir); + settings.last_route_dir = QFileInfo(dir).absolutePath(); + } + }); +} + +bool OpenReplayWidget::open() { + QString route = route_edit->text(); + QString data_dir; + if (int idx = route.lastIndexOf('/'); idx != -1) { + data_dir = route.mid(0, idx + 1); + route = route.mid(idx + 1); + } + + bool is_valid_format = Route::parseRoute(route).str.size() > 0; + if (!is_valid_format) { + QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route)); + } else { + uint32_t flags[] = {REPLAY_FLAG_NO_VIPC, REPLAY_FLAG_NONE, REPLAY_FLAG_ECAM, REPLAY_FLAG_DCAM, REPLAY_FLAG_QCAMERA}; + auto replay_stream = std::make_unique(qApp); + if (replay_stream->loadRoute(route, data_dir, flags[choose_video_cb->currentIndex()])) { + *stream = replay_stream.release(); + } else { + QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to load route: '%1'").arg(route)); + } + } + return *stream != nullptr; +} diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index 69fb738ab8..a5705a14a6 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -1,33 +1,47 @@ #pragma once -#include "opendbc/can/common_dbc.h" +#include "common/prefix.h" #include "tools/cabana/streams/abstractstream.h" -#include "tools/cabana/settings.h" class ReplayStream : public AbstractStream { Q_OBJECT public: - ReplayStream(uint32_t replay_flags, QObject *parent); - ~ReplayStream(); - bool loadRoute(const QString &route, const QString &data_dir); + ReplayStream(QObject *parent); + void start() override; + bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE); bool eventFilter(const Event *event); void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }; inline QString routeName() const override { return replay->route()->name(); } inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); } + double totalSeconds() const override { return replay->totalSeconds(); } inline VisionStreamType visionStreamType() const override { return replay->hasFlag(REPLAY_FLAG_ECAM) ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD; } - inline double totalSeconds() const override { return replay->totalSeconds(); } inline double routeStartTime() const override { return replay->routeStartTime() / (double)1e9; } inline double currentSec() const override { return replay->currentSeconds(); } - inline QDateTime currentDateTime() const override { return replay->currentDateTime(); } inline const Route *route() const override { return replay->route(); } - inline const std::vector *events() const override { return replay->events(); } inline void setSpeed(float speed) override { replay->setSpeed(speed); } + inline float getSpeed() const { return replay->getSpeed(); } inline bool isPaused() const override { return replay->isPaused(); } void pause(bool pause) override; inline const std::vector> getTimeline() override { return replay->getTimeline(); } + static AbstractOpenStreamWidget *widget(AbstractStream **stream); private: + void mergeSegments(); std::unique_ptr replay = nullptr; - uint32_t replay_flags = REPLAY_FLAG_NONE; + std::set processed_segments; + std::unique_ptr op_prefix; +}; + +class OpenReplayWidget : public AbstractOpenStreamWidget { + Q_OBJECT + +public: + OpenReplayWidget(AbstractStream **stream); + bool open() override; + QString title() override { return tr("&Replay"); } + +private: + QLineEdit *route_edit; + QComboBox *choose_video_cb; }; diff --git a/tools/cabana/streamselector.cc b/tools/cabana/streamselector.cc new file mode 100644 index 0000000000..6da44ecd1a --- /dev/null +++ b/tools/cabana/streamselector.cc @@ -0,0 +1,67 @@ +#include "tools/cabana/streamselector.h" + +#include +#include +#include +#include +#include + +#include "tools/cabana/streams/devicestream.h" +#include "tools/cabana/streams/pandastream.h" +#include "tools/cabana/streams/replaystream.h" + +StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDialog(parent) { + setWindowTitle(tr("Open stream")); + QVBoxLayout *main_layout = new QVBoxLayout(this); + + QWidget *w = new QWidget(this); + QVBoxLayout *layout = new QVBoxLayout(w); + tab = new QTabWidget(this); + tab->setTabBarAutoHide(true); + layout->addWidget(tab); + + QHBoxLayout *dbc_layout = new QHBoxLayout(); + dbc_file = new QLineEdit(this); + dbc_file->setReadOnly(true); + dbc_file->setPlaceholderText(tr("Choose a dbc file to open")); + QPushButton *file_btn = new QPushButton(tr("Browse...")); + dbc_layout->addWidget(new QLabel(tr("dbc File"))); + dbc_layout->addWidget(dbc_file); + dbc_layout->addWidget(file_btn); + layout->addLayout(dbc_layout); + + QFrame *line = new QFrame(this); + line->setFrameStyle(QFrame::HLine | QFrame::Sunken); + layout->addWidget(line); + + main_layout->addWidget(w); + auto btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel); + main_layout->addWidget(btn_box); + + addStreamWidget(ReplayStream::widget(stream)); + addStreamWidget(PandaStream::widget(stream)); + addStreamWidget(DeviceStream::widget(stream)); + + QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject); + QObject::connect(btn_box, &QDialogButtonBox::accepted, [=]() { + btn_box->button(QDialogButtonBox::Open)->setEnabled(false); + w->setEnabled(false); + if (((AbstractOpenStreamWidget *)tab->currentWidget())->open()) { + accept(); + } else { + btn_box->button(QDialogButtonBox::Open)->setEnabled(true); + w->setEnabled(true); + } + }); + QObject::connect(file_btn, &QPushButton::clicked, [this]() { + QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)"); + if (!fn.isEmpty()) { + dbc_file->setText(fn); + settings.last_dir = QFileInfo(fn).absolutePath(); + } + }); +} + +void StreamSelector::addStreamWidget(AbstractOpenStreamWidget *w) { + tab->addTab(w, w->title()); +} diff --git a/tools/cabana/streamselector.h b/tools/cabana/streamselector.h new file mode 100644 index 0000000000..19b438d55a --- /dev/null +++ b/tools/cabana/streamselector.h @@ -0,0 +1,20 @@ +#pragma once + +#include +#include +#include + +#include "tools/cabana/streams/abstractstream.h" + +class StreamSelector : public QDialog { + Q_OBJECT + +public: + StreamSelector(AbstractStream **stream, QWidget *parent = nullptr); + void addStreamWidget(AbstractOpenStreamWidget *w); + QString dbcFile() const { return dbc_file->text(); } + +private: + QLineEdit *dbc_file; + QTabWidget *tab; +}; diff --git a/tools/cabana/tests/test_cabana b/tools/cabana/tests/test_cabana deleted file mode 100755 index bac242fbdd..0000000000 --- a/tools/cabana/tests/test_cabana +++ /dev/null @@ -1,4 +0,0 @@ -#!/bin/sh -cd "$(dirname "$0")" -export LD_LIBRARY_PATH="../../../opendbc/can:$LD_LIBRARY_PATH" -exec ./_test_cabana "$1" diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc index 586422ffc8..a3921d727b 100644 --- a/tools/cabana/tests/test_cabana.cc +++ b/tools/cabana/tests/test_cabana.cc @@ -2,34 +2,37 @@ #include "opendbc/can/common.h" #undef INFO #include "catch2/catch.hpp" -#include "tools/cabana/dbcmanager.h" #include "tools/replay/logreader.h" +#include "tools/cabana/dbc/dbcmanager.h" +#include "tools/cabana/streams/abstractstream.h" // demo route, first segment const std::string TEST_RLOG_URL = "https://commadata2.blob.core.windows.net/commadata2/4cf7a6ad03080c90/2021-09-29--13-46-36/0/rlog.bz2"; -TEST_CASE("DBCManager::generateDBC") { - DBCManager dbc_origin(nullptr); - dbc_origin.open("toyota_new_mc_pt_generated"); - DBCManager dbc_from_generated(nullptr); - dbc_from_generated.open("", dbc_origin.generateDBC()); +TEST_CASE("DBCFile::generateDBC") { + QString fn = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, "toyota_new_mc_pt_generated"); + DBCFile dbc_origin(fn); + DBCFile dbc_from_generated("", dbc_origin.generateDBC()); - auto &msgs = dbc_origin.messages(); - auto &new_msgs = dbc_from_generated.messages(); - REQUIRE(msgs.size() == new_msgs.size()); - for (auto &[address, m] : msgs) { - auto new_m = new_msgs.at(address); + REQUIRE(dbc_origin.msgCount() == dbc_from_generated.msgCount()); + auto msgs = dbc_origin.getMessages(); + auto new_msgs = dbc_from_generated.getMessages(); + for (auto &[id, m] : msgs) { + auto &new_m = new_msgs.at(id); REQUIRE(m.name == new_m.name); REQUIRE(m.size == new_m.size); - REQUIRE(m.sigs.size() == new_m.sigs.size()); - for (auto &[name, sig] : m.sigs) - REQUIRE(sig == new_m.sigs[name]); + REQUIRE(m.getSignals().size() == new_m.getSignals().size()); + auto sigs = m.getSignals(); + auto new_sigs = new_m.getSignals(); + for (int i = 0; i < sigs.size(); ++i) { + REQUIRE(*sigs[i] == *new_sigs[i]); + } } } TEST_CASE("Parse can messages") { DBCManager dbc(nullptr); - dbc.open("toyota_new_mc_pt_generated"); + dbc.open({0}, "toyota_new_mc_pt_generated"); CANParser can_parser(0, "toyota_new_mc_pt_generated", {}, {}); LogReader log; @@ -37,23 +40,24 @@ TEST_CASE("Parse can messages") { REQUIRE(log.events.size() > 0); for (auto e : log.events) { if (e->which == cereal::Event::Which::CAN) { - std::map, std::vector> values_1; + std::map, std::vector> values_1; for (const auto &c : e->event.getCan()) { - const auto msg = dbc.msg(c.getAddress()); + const auto msg = dbc.msg({.source = c.getSrc(), .address = c.getAddress()}); if (c.getSrc() == 0 && msg) { - for (auto &[name, sig] : msg->sigs) { - double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), sig); - values_1[{c.getAddress(), name.toStdString()}].push_back(val); + for (auto sig : msg->getSignals()) { + double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *sig); + values_1[{c.getAddress(), sig->name}].push_back(val); } } } can_parser.UpdateCans(e->mono_time, e->event.getCan()); - auto values_2 = can_parser.query_latest(); + std::vector values_2; + can_parser.query_latest(values_2); for (auto &[key, v1] : values_1) { bool found = false; for (auto &v2 : values_2) { - if (v2.address == key.first && v2.name == key.second) { + if (v2.address == key.first && key.second == v2.name.c_str()) { REQUIRE(v2.all_values.size() == v1.size()); REQUIRE(v2.all_values == v1); found = true; diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc new file mode 100644 index 0000000000..7b4a5633f6 --- /dev/null +++ b/tools/cabana/tools/findsignal.cc @@ -0,0 +1,273 @@ +#include "tools/cabana/tools/findsignal.h" + +#include +#include +#include +#include +#include +#include +#include +#include + +// FindSignalModel + +QVariant FindSignalModel::headerData(int section, Qt::Orientation orientation, int role) const { + static QString titles[] = {"Id", "Start Bit, size", "(time, value)"}; + if (role != Qt::DisplayRole) return {}; + return orientation == Qt::Horizontal ? titles[section] : QString::number(section + 1); +} + +QVariant FindSignalModel::data(const QModelIndex &index, int role) const { + if (role == Qt::DisplayRole) { + const auto &s = filtered_signals[index.row()]; + switch (index.column()) { + case 0: return s.id.toString(); + case 1: return QString("%1, %2").arg(s.sig.start_bit).arg(s.sig.size); + case 2: return s.values.join(" "); + } + } + return {}; +} + +void FindSignalModel::search(std::function cmp) { + beginResetModel(); + + std::mutex lock; + const auto prev_sigs = !histories.isEmpty() ? histories.back() : initial_signals; + filtered_signals.clear(); + filtered_signals.reserve(prev_sigs.size()); + QtConcurrent::blockingMap(prev_sigs, [&](auto &s) { + const auto &events = can->events(s.id); + auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, [](uint64_t ts, auto &e) { return ts < e->mono_time; }); + auto last = events.cend(); + if (last_time < std::numeric_limits::max()) { + last = std::upper_bound(events.cbegin(), events.cend(), last_time, [](uint64_t ts, auto &e) { return ts < e->mono_time; }); + } + + auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); }); + if (it != last) { + auto values = s.values; + values += QString("(%1, %2)").arg((*it)->mono_time / 1e9 - can->routeStartTime(), 0, 'f', 2).arg(get_raw_value((*it)->dat, (*it)->size, s.sig)); + std::lock_guard lk(lock); + filtered_signals.push_back({.id = s.id, .mono_time = (*it)->mono_time, .sig = s.sig, .values = values}); + } + }); + histories.push_back(filtered_signals); + + endResetModel(); +} + +void FindSignalModel::undo() { + if (!histories.isEmpty()) { + beginResetModel(); + histories.pop_back(); + filtered_signals.clear(); + if (!histories.isEmpty()) filtered_signals = histories.back(); + endResetModel(); + } +} + +void FindSignalModel::reset() { + beginResetModel(); + histories.clear(); + filtered_signals.clear(); + initial_signals.clear(); + endResetModel(); +} + +// FindSignalDlg +FindSignalDlg::FindSignalDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags() | Qt::Window) { + setWindowTitle(tr("Find Signal")); + setAttribute(Qt::WA_DeleteOnClose); + QVBoxLayout *main_layout = new QVBoxLayout(this); + + // Messages group + message_group = new QGroupBox(tr("Messages"), this); + QFormLayout *message_layout = new QFormLayout(message_group); + message_layout->addRow(tr("Bus"), bus_edit = new QLineEdit()); + bus_edit->setPlaceholderText(tr("comma-seperated values. Leave blank for all")); + message_layout->addRow(tr("Address"), address_edit = new QLineEdit()); + address_edit->setPlaceholderText(tr("comma-seperated hex values. Leave blank for all")); + QHBoxLayout *hlayout = new QHBoxLayout(); + hlayout->addWidget(first_time_edit = new QLineEdit("0")); + hlayout->addWidget(new QLabel("-")); + hlayout->addWidget(last_time_edit = new QLineEdit("MAX")); + hlayout->addWidget(new QLabel("seconds")); + hlayout->addStretch(0); + message_layout->addRow(tr("Time"), hlayout); + + // Signal group + properties_group = new QGroupBox(tr("Signal")); + QFormLayout *property_layout = new QFormLayout(properties_group); + property_layout->setFieldGrowthPolicy(QFormLayout::FieldsStayAtSizeHint); + + hlayout = new QHBoxLayout(); + hlayout->addWidget(min_size = new QSpinBox); + hlayout->addWidget(new QLabel("-")); + hlayout->addWidget(max_size = new QSpinBox); + hlayout->addWidget(litter_endian = new QCheckBox(tr("Little endian"))); + hlayout->addWidget(is_signed = new QCheckBox(tr("Signed"))); + hlayout->addStretch(0); + min_size->setRange(1, 64); + max_size->setRange(1, 64); + min_size->setValue(8); + max_size->setValue(8); + litter_endian->setChecked(true); + property_layout->addRow(tr("Size"), hlayout); + property_layout->addRow(tr("Factor"), factor_edit = new QLineEdit("1.0")); + property_layout->addRow(tr("Offset"), offset_edit = new QLineEdit("0.0")); + + // find group + QGroupBox *find_group = new QGroupBox(tr("Find signal"), this); + QVBoxLayout *vlayout = new QVBoxLayout(find_group); + hlayout = new QHBoxLayout(); + hlayout->addWidget(new QLabel(tr("Value"))); + hlayout->addWidget(compare_cb = new QComboBox(this)); + hlayout->addWidget(value1 = new QLineEdit); + hlayout->addWidget(to_label = new QLabel("-")); + hlayout->addWidget(value2 = new QLineEdit); + hlayout->addWidget(undo_btn = new QPushButton(tr("Undo prev find"), this)); + hlayout->addWidget(search_btn = new QPushButton(tr("Find"))); + hlayout->addWidget(reset_btn = new QPushButton(tr("Reset"), this)); + vlayout->addLayout(hlayout); + + compare_cb->addItems({"=", ">", ">=", "!=", "<", "<=", "between"}); + value1->setFocus(Qt::OtherFocusReason); + value2->setVisible(false); + to_label->setVisible(false); + undo_btn->setEnabled(false); + reset_btn->setEnabled(false); + + auto double_validator = new QDoubleValidator(this); + double_validator->setLocale(QLocale::C); + for (auto edit : {value1, value2, factor_edit, offset_edit, first_time_edit, last_time_edit}) { + edit->setValidator(double_validator); + } + + vlayout->addWidget(view = new QTableView(this)); + view->setContextMenuPolicy(Qt::CustomContextMenu); + view->horizontalHeader()->setStretchLastSection(true); + view->horizontalHeader()->setSelectionMode(QAbstractItemView::NoSelection); + view->setSelectionBehavior(QAbstractItemView::SelectRows); + view->setModel(model = new FindSignalModel(this)); + + hlayout = new QHBoxLayout(); + hlayout->addWidget(message_group); + hlayout->addWidget(properties_group); + main_layout->addLayout(hlayout); + main_layout->addWidget(find_group); + main_layout->addWidget(stats_label = new QLabel()); + + setMinimumSize({700, 650}); + QObject::connect(search_btn, &QPushButton::clicked, this, &FindSignalDlg::search); + QObject::connect(undo_btn, &QPushButton::clicked, model, &FindSignalModel::undo); + QObject::connect(model, &QAbstractItemModel::modelReset, this, &FindSignalDlg::modelReset); + QObject::connect(reset_btn, &QPushButton::clicked, model, &FindSignalModel::reset); + QObject::connect(view, &QTableView::customContextMenuRequested, this, &FindSignalDlg::customMenuRequested); + QObject::connect(view, &QTableView::doubleClicked, [this](const QModelIndex &index) { + if (index.isValid()) emit openMessage(model->filtered_signals[index.row()].id); + }); + QObject::connect(compare_cb, qOverload(&QComboBox::currentIndexChanged), [=](int index) { + to_label->setVisible(index == compare_cb->count() - 1); + value2->setVisible(index == compare_cb->count() - 1); + }); +} + +void FindSignalDlg::search() { + if (model->histories.isEmpty()) { + setInitialSignals(); + } + auto v1 = value1->text().toDouble(); + auto v2 = value2->text().toDouble(); + std::function cmp = nullptr; + switch (compare_cb->currentIndex()) { + case 0: cmp = [v1](double v) { return v == v1;}; break; + case 1: cmp = [v1](double v) { return v > v1;};break; + case 2: cmp = [v1](double v) { return v >= v1;};break; + case 3: cmp = [v1](double v) { return v != v1;}; break; + case 4: cmp = [v1](double v) { return v < v1;}; break; + case 5: cmp = [v1](double v) { return v <= v1;}; break; + case 6: cmp = [v1, v2](double v) { return v >= v1 && v <= v2;}; break; + } + properties_group->setEnabled(false); + message_group->setEnabled(false); + search_btn->setEnabled(false); + stats_label->setVisible(false); + search_btn->setText("Finding ...."); + QTimer::singleShot(0, [=]() { model->search(cmp); }); +} + +void FindSignalDlg::setInitialSignals() { + QSet buses; + for (auto bus : bus_edit->text().trimmed().split(",")) { + bus = bus.trimmed(); + if (!bus.isEmpty()) buses.insert(bus.toUShort()); + } + + QSet addresses; + for (auto addr : address_edit->text().trimmed().split(",")) { + addr = addr.trimmed(); + if (!addr.isEmpty()) addresses.insert(addr.toULong(nullptr, 16)); + } + + cabana::Signal sig{}; + sig.is_little_endian = litter_endian->isChecked(); + sig.is_signed = is_signed->isChecked(); + sig.factor = factor_edit->text().toDouble(); + sig.offset = offset_edit->text().toDouble(); + + auto [first_sec, last_sec] = std::minmax(first_time_edit->text().toDouble(), last_time_edit->text().toDouble()); + uint64_t first_time = (can->routeStartTime() + first_sec) * 1e9; + model->last_time = std::numeric_limits::max(); + if (last_sec > 0) { + model->last_time = (can->routeStartTime() + last_sec) * 1e9; + } + model->initial_signals.clear(); + + for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) { + if (buses.isEmpty() || buses.contains(it.key().source) && (addresses.isEmpty() || addresses.contains(it.key().address))) { + const auto &events = can->events(it.key()); + auto e = std::lower_bound(events.cbegin(), events.cend(), first_time, [](auto e, uint64_t ts) { return e->mono_time < ts; }); + if (e != events.cend()) { + const int total_size = it.value().dat.size() * 8; + for (int size = min_size->value(); size <= max_size->value(); ++size) { + for (int start = 0; start <= total_size - size; ++start) { + FindSignalModel::SearchSignal s{.id = it.key(), .mono_time = first_time, .sig = sig}; + updateSigSizeParamsFromRange(s.sig, start, size); + s.value = get_raw_value((*e)->dat, (*e)->size, s.sig); + model->initial_signals.push_back(s); + } + } + } + } + } +} + +void FindSignalDlg::modelReset() { + properties_group->setEnabled(model->histories.isEmpty()); + message_group->setEnabled(model->histories.isEmpty()); + search_btn->setText(model->histories.isEmpty() ? tr("Find") : tr("Find Next")); + reset_btn->setEnabled(!model->histories.isEmpty()); + undo_btn->setEnabled(model->histories.size() > 1); + search_btn->setEnabled(model->rowCount() > 0 || model->histories.isEmpty()); + stats_label->setVisible(true); + stats_label->setText(tr("%1 matches. right click on an item to create signal. double click to open message").arg(model->filtered_signals.size())); +} + +void FindSignalDlg::customMenuRequested(const QPoint &pos) { + if (auto index = view->indexAt(pos); index.isValid()) { + QMenu menu(this); + menu.addAction(tr("Create Signal")); + if (menu.exec(view->mapToGlobal(pos))) { + auto &s = model->filtered_signals[index.row()]; + auto msg = dbc()->msg(s.id); + if (!msg) { + UndoStack::push(new EditMsgCommand(s.id, dbc()->newMsgName(s.id), can->lastMessage(s.id).dat.size(), "")); + msg = dbc()->msg(s.id); + } + s.sig.name = dbc()->newSignalName(s.id); + UndoStack::push(new AddSigCommand(s.id, s.sig)); + emit openMessage(s.id); + } + } +} diff --git a/tools/cabana/tools/findsignal.h b/tools/cabana/tools/findsignal.h new file mode 100644 index 0000000000..f046bdf7e3 --- /dev/null +++ b/tools/cabana/tools/findsignal.h @@ -0,0 +1,60 @@ +#pragma once + +#include +#include +#include +#include + +#include "tools/cabana/commands.h" +#include "tools/cabana/settings.h" + +class FindSignalModel : public QAbstractTableModel { +public: + struct SearchSignal { + MessageId id = {}; + uint64_t mono_time = 0; + cabana::Signal sig = {}; + double value = 0.; + QStringList values; + }; + + FindSignalModel(QObject *parent) : QAbstractTableModel(parent) {} + QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; + QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override; + int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 3; } + int rowCount(const QModelIndex &parent = QModelIndex()) const override { return std::min(filtered_signals.size(), 300); } + void search(std::function cmp); + void reset(); + void undo(); + + QList filtered_signals; + QList initial_signals; + QList> histories; + uint64_t last_time = std::numeric_limits::max(); +}; + +class FindSignalDlg : public QDialog { + Q_OBJECT +public: + FindSignalDlg(QWidget *parent); + +signals: + void openMessage(const MessageId &id); + +private: + void search(); + void modelReset(); + void setInitialSignals(); + void customMenuRequested(const QPoint &pos); + + QLineEdit *value1, *value2, *factor_edit, *offset_edit; + QLineEdit *bus_edit, *address_edit, *first_time_edit, *last_time_edit; + QComboBox *compare_cb; + QSpinBox *min_size, *max_size; + QCheckBox *litter_endian, *is_signed; + QPushButton *search_btn, *reset_btn, *undo_btn; + QGroupBox *properties_group, *message_group; + QTableView *view; + QLabel *to_label, *stats_label; + FindSignalModel *model; +}; diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc index ffb0e54b0e..add4ee7928 100644 --- a/tools/cabana/tools/findsimilarbits.cc +++ b/tools/cabana/tools/findsimilarbits.cc @@ -1,5 +1,6 @@ #include "tools/cabana/tools/findsimilarbits.h" +#include #include #include #include @@ -7,7 +8,7 @@ #include #include -#include "tools/cabana/dbcmanager.h" +#include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags() | Qt::Window) { @@ -16,49 +17,64 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi QVBoxLayout *main_layout = new QVBoxLayout(this); - QHBoxLayout *form_layout = new QHBoxLayout(); - bus_combo = new QComboBox(this); - QSet bus_set; - for (auto it = can->can_msgs.begin(); it != can->can_msgs.end(); ++it) { - bus_set << it.key().source; - } - for (uint8_t bus : bus_set) { - bus_combo->addItem(QString::number(bus), bus); + QHBoxLayout *src_layout = new QHBoxLayout(); + src_bus_combo = new QComboBox(this); + find_bus_combo = new QComboBox(this); + for (auto cb : {src_bus_combo, find_bus_combo}) { + for (uint8_t bus : can->sources) { + cb->addItem(QString::number(bus), bus); + } + cb->model()->sort(0); + cb->setCurrentIndex(0); } - bus_combo->model()->sort(0); - bus_combo->setCurrentIndex(0); msg_cb = new QComboBox(this); - for (auto &[address, msg] : dbc()->messages()) { - msg_cb->addItem(msg.name, address); + // TODO: update when src_bus_combo changes + for (auto &[id, msg] : dbc()->getMessages(0)) { + msg_cb->addItem(msg.name, id.address); } msg_cb->model()->sort(0); msg_cb->setCurrentIndex(0); byte_idx_sb = new QSpinBox(this); + byte_idx_sb->setFixedWidth(50); byte_idx_sb->setRange(0, 63); bit_idx_sb = new QSpinBox(this); + bit_idx_sb->setFixedWidth(50); bit_idx_sb->setRange(0, 7); - form_layout->addWidget(new QLabel("Bus")); - form_layout->addWidget(bus_combo); - form_layout->addWidget(msg_cb); - form_layout->addWidget(new QLabel("Byte Index")); - form_layout->addWidget(byte_idx_sb); - form_layout->addWidget(new QLabel("Bit Index")); - form_layout->addWidget(bit_idx_sb); - - + src_layout->addWidget(new QLabel(tr("Bus"))); + src_layout->addWidget(src_bus_combo); + src_layout->addWidget(msg_cb); + src_layout->addWidget(new QLabel(tr("Byte Index"))); + src_layout->addWidget(byte_idx_sb); + src_layout->addWidget(new QLabel(tr("Bit Index"))); + src_layout->addWidget(bit_idx_sb); + src_layout->addStretch(0); + + QHBoxLayout *find_layout = new QHBoxLayout(); + find_layout->addWidget(new QLabel(tr("Bus"))); + find_layout->addWidget(find_bus_combo); + find_layout->addWidget(new QLabel(tr("Equal"))); + equal_combo = new QComboBox(this); + equal_combo->addItems({"Yes", "No"}); + find_layout->addWidget(equal_combo); min_msgs = new QLineEdit(this); min_msgs->setValidator(new QIntValidator(this)); min_msgs->setText("100"); - form_layout->addWidget(new QLabel("Min msg count")); - form_layout->addWidget(min_msgs); + find_layout->addWidget(new QLabel(tr("Min msg count"))); + find_layout->addWidget(min_msgs); search_btn = new QPushButton(tr("&Find"), this); - form_layout->addWidget(search_btn); - form_layout->addStretch(1); - main_layout->addLayout(form_layout); + find_layout->addWidget(search_btn); + find_layout->addStretch(0); + + QGridLayout *grid_layout = new QGridLayout(); + grid_layout->addWidget(new QLabel("Find From:"), 0, 0); + grid_layout->addLayout(src_layout, 0, 1); + grid_layout->addWidget(new QLabel("Find In:"), 1, 0); + grid_layout->addLayout(find_layout, 1, 1); + main_layout->addLayout(grid_layout); table = new QTableWidget(this); table->setSelectionBehavior(QAbstractItemView::SelectRows); @@ -69,10 +85,9 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi setMinimumSize({700, 500}); QObject::connect(search_btn, &QPushButton::clicked, this, &FindSimilarBitsDlg::find); - QObject::connect(table, &QTableWidget::doubleClicked, [this](const QModelIndex &index) { if (index.isValid()) { - MessageId msg_id = {.source = (uint8_t)bus_combo->currentData().toUInt(), .address = table->item(index.row(), 0)->text().toUInt(0, 16)}; + MessageId msg_id = {.source = (uint8_t)find_bus_combo->currentData().toUInt(), .address = table->item(index.row(), 0)->text().toUInt(0, 16)}; emit openMessage(msg_id); } }); @@ -82,7 +97,8 @@ void FindSimilarBitsDlg::find() { search_btn->setEnabled(false); table->clear(); uint32_t selected_address = msg_cb->currentData().toUInt(); - auto msg_mismatched = calcBits(bus_combo->currentText().toUInt(), selected_address, byte_idx_sb->value(), bit_idx_sb->value(), min_msgs->text().toInt()); + auto msg_mismatched = calcBits(src_bus_combo->currentText().toUInt(), selected_address, byte_idx_sb->value(), bit_idx_sb->value(), + find_bus_combo->currentText().toUInt(), equal_combo->currentIndex() == 0, min_msgs->text().toInt()); table->setRowCount(msg_mismatched.size()); table->setColumnCount(6); table->setHorizontalHeaderLabels({"address", "byte idx", "bit idx", "mismatches", "total msgs", "% mismatched"}); @@ -93,38 +109,35 @@ void FindSimilarBitsDlg::find() { table->setItem(i, 2, new QTableWidgetItem(QString::number(m.bit_idx))); table->setItem(i, 3, new QTableWidgetItem(QString::number(m.mismatches))); table->setItem(i, 4, new QTableWidgetItem(QString::number(m.total))); - table->setItem(i, 5, new QTableWidgetItem(QString::number(m.perc))); + table->setItem(i, 5, new QTableWidgetItem(QString::number(m.perc, 'f', 2))); } search_btn->setEnabled(true); } -QList FindSimilarBitsDlg::calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, int min_msgs_cnt) { +QList FindSimilarBitsDlg::calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, + int bit_idx, uint8_t find_bus, bool equal, int min_msgs_cnt) { QHash> mismatches; QHash msg_count; - auto events = can->events(); + const auto &events = can->allEvents(); int bit_to_find = -1; - for (auto e : *events) { - if (e->which == cereal::Event::Which::CAN) { - for (const auto &c : e->event.getCan()) { - if (c.getSrc() == bus) { - const auto dat = c.getDat(); - uint32_t address = c.getAddress(); - if (address == selected_address && dat.size() > byte_idx) { - bit_to_find = ((dat[byte_idx] >> (7 - bit_idx)) & 1) != 0; - } - ++msg_count[address]; - if (bit_to_find == -1) continue; - - auto &mismatched = mismatches[address]; - if (mismatched.size() < dat.size() * 8) { - mismatched.resize(dat.size() * 8); - } - for (int i = 0; i < dat.size(); ++i) { - for (int j = 0; j < 8; ++j) { - int bit = ((dat[i] >> (7 - j)) & 1) != 0; - mismatched[i * 8 + j] += (bit != bit_to_find); - } - } + for (const CanEvent *e : events) { + if (e->src == bus) { + if (e->address == selected_address && e->size > byte_idx) { + bit_to_find = ((e->dat[byte_idx] >> (7 - bit_idx)) & 1) != 0; + } + } + if (e->src == find_bus) { + ++msg_count[e->address]; + if (bit_to_find == -1) continue; + + auto &mismatched = mismatches[e->address]; + if (mismatched.size() < e->size * 8) { + mismatched.resize(e->size * 8); + } + for (int i = 0; i < e->size; ++i) { + for (int j = 0; j < 8; ++j) { + int bit = ((e->dat[i] >> (7 - j)) & 1) != 0; + mismatched[i * 8 + j] += equal ? (bit != bit_to_find) : (bit == bit_to_find); } } } diff --git a/tools/cabana/tools/findsimilarbits.h b/tools/cabana/tools/findsimilarbits.h index 53d7806a8f..77bfac19ca 100644 --- a/tools/cabana/tools/findsimilarbits.h +++ b/tools/cabana/tools/findsimilarbits.h @@ -6,7 +6,7 @@ #include #include -#include "tools/cabana/dbcmanager.h" +#include "tools/cabana/dbc/dbcmanager.h" class FindSimilarBitsDlg : public QDialog { Q_OBJECT @@ -22,11 +22,12 @@ private: uint32_t address, byte_idx, bit_idx, mismatches, total; float perc; }; - QList calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, int min_msgs_cnt); + QList calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, uint8_t find_bus, + bool equal, int min_msgs_cnt); void find(); QTableWidget *table; - QComboBox *bus_combo, *msg_cb; + QComboBox *src_bus_combo, *find_bus_combo, *msg_cb, *equal_combo; QSpinBox *byte_idx_sb, *bit_idx_sb; QPushButton *search_btn; QLineEdit *min_msgs; diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index 9843a3f00c..a75d10139d 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -1,119 +1,160 @@ #include "tools/cabana/util.h" -#include #include +#include #include -#include - -#include -#include +#include +#include #include "selfdrive/ui/qt/util.h" -static QColor blend(QColor a, QColor b) { - return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2); +// SegmentTree + +void SegmentTree::build(const QVector &arr) { + size = arr.size(); + tree.resize(4 * size); // size of the tree is 4 times the size of the array + if (size > 0) { + build_tree(arr, 1, 0, size - 1); + } } -void ChangeTracker::compute(const QByteArray &dat, double ts, uint32_t freq) { - if (prev_dat.size() != dat.size()) { - colors.resize(dat.size()); - last_change_t.resize(dat.size()); - bit_change_counts.resize(dat.size()); - std::fill(colors.begin(), colors.end(), QColor(0, 0, 0, 0)); - std::fill(last_change_t.begin(), last_change_t.end(), ts); +void SegmentTree::build_tree(const QVector &arr, int n, int left, int right) { + if (left == right) { + const double y = arr[left].y(); + tree[n] = {y, y}; } else { - for (int i = 0; i < dat.size(); ++i) { - const uint8_t last = prev_dat[i]; - const uint8_t cur = dat[i]; - - if (last != cur) { - double delta_t = ts - last_change_t[i]; - if (delta_t * freq > periodic_threshold) { - // Last change was while ago, choose color based on delta up or down - if (cur > last) { - colors[i] = QColor(0, 187, 255, start_alpha); // Cyan - } else { - colors[i] = QColor(255, 0, 0, start_alpha); // Red - } - } else { - // Periodic changes - colors[i] = blend(colors[i], QColor(102, 86, 169, start_alpha / 2)); // Greyish/Blue - } - - // Track bit level changes - for (int bit = 0; bit < 8; bit++){ - if ((cur ^ last) & (1 << bit)) { - bit_change_counts[i][bit] += 1; - } - } - - last_change_t[i] = ts; - } else { - // Fade out - float alpha_delta = 1.0 / (freq + 1) / fade_time; - colors[i].setAlphaF(std::max(0.0, colors[i].alphaF() - alpha_delta)); - } - } + const int mid = (left + right) >> 1; + build_tree(arr, 2 * n, left, mid); + build_tree(arr, 2 * n + 1, mid + 1, right); + tree[n] = {std::min(tree[2 * n].first, tree[2 * n + 1].first), std::max(tree[2 * n].second, tree[2 * n + 1].second)}; } - - prev_dat = dat; } -void ChangeTracker::clear() { - prev_dat.clear(); - last_change_t.clear(); - bit_change_counts.clear(); - colors.clear(); +std::pair SegmentTree::get_minmax(int n, int left, int right, int range_left, int range_right) const { + if (range_left > right || range_right < left) + return {std::numeric_limits::max(), std::numeric_limits::lowest()}; + if (range_left <= left && range_right >= right) + return tree[n]; + int mid = (left + right) >> 1; + auto l = get_minmax(2 * n, left, mid, range_left, range_right); + auto r = get_minmax(2 * n + 1, mid + 1, right, range_left, range_right); + return {std::min(l.first, r.first), std::max(l.second, r.second)}; } // MessageBytesDelegate -MessageBytesDelegate::MessageBytesDelegate(QObject *parent) : QStyledItemDelegate(parent) { +MessageBytesDelegate::MessageBytesDelegate(QObject *parent, bool multiple_lines) : multiple_lines(multiple_lines), QStyledItemDelegate(parent) { fixed_font = QFontDatabase::systemFont(QFontDatabase::FixedFont); + byte_size = QFontMetrics(fixed_font).size(Qt::TextSingleLine, "00 ") + QSize(0, 2); +} + +void MessageBytesDelegate::setMultipleLines(bool v) { + if (std::exchange(multiple_lines, v) != multiple_lines) { + std::fill_n(size_cache, std::size(size_cache), QSize{}); + } +} + +int MessageBytesDelegate::widthForBytes(int n) const { + int h_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1; + return n * byte_size.width() + h_margin * 2; +} + +QSize MessageBytesDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const { + int v_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameVMargin) + 1; + auto data = index.data(BytesRole); + if (!data.isValid()) { + return {1, byte_size.height() + 2 * v_margin}; + } + int n = data.toByteArray().size(); + assert(n >= 0 && n <= 64); + + QSize size = size_cache[n]; + if (size.isEmpty()) { + if (!multiple_lines) { + size.setWidth(widthForBytes(n)); + size.setHeight(byte_size.height() + 2 * v_margin); + } else { + size.setWidth(widthForBytes(8)); + size.setHeight(byte_size.height() * std::max(1, n / 8) + 2 * v_margin); + } + size_cache[n] = size; + } + return size; } void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { - QStyleOptionViewItemV4 opt = option; - initStyleOption(&opt, index); + auto data = index.data(BytesRole); + if (!data.isValid()) { + return QStyledItemDelegate::paint(painter, option, index); + } - auto byte_list = opt.text.split(" "); - if (byte_list.size() <= 1) { - QStyledItemDelegate::paint(painter, option, index); - return; + auto byte_list = data.toByteArray(); + auto colors = index.data(ColorsRole).value>(); + + int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin); + int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin); + if (option.state & QStyle::State_Selected) { + painter->fillRect(option.rect, option.palette.highlight()); } - auto color_role = option.state & QStyle::State_Selected ? QPalette::HighlightedText: QPalette::Text; - painter->setPen(option.palette.color(color_role)); + const QPoint pt{option.rect.left() + h_margin, option.rect.top() + v_margin}; + QFont old_font = painter->font(); + QPen old_pen = painter->pen(); painter->setFont(fixed_font); - QRect space = painter->boundingRect(opt.rect, opt.displayAlignment, " "); - QRect pos = painter->boundingRect(opt.rect, opt.displayAlignment, "00"); - pos.moveLeft(pos.x() + space.width()); + for (int i = 0; i < byte_list.size(); ++i) { + int row = !multiple_lines ? 0 : i / 8; + int column = !multiple_lines ? i : i % 8; + QRect r = QRect({pt.x() + column * byte_size.width(), pt.y() + row * byte_size.height()}, byte_size); + if (i < colors.size() && colors[i].alpha() > 0) { + if (option.state & QStyle::State_Selected) { + painter->setPen(option.palette.color(QPalette::Text)); + painter->fillRect(r, option.palette.color(QPalette::Window)); + } + painter->fillRect(r, colors[i]); + } else if (option.state & QStyle::State_Selected) { + painter->setPen(option.palette.color(QPalette::HighlightedText)); + } + painter->drawText(r, Qt::AlignCenter, toHex(byte_list[i])); + } + painter->setFont(old_font); + painter->setPen(old_pen); +} - int m = space.width() / 2; - const QMargins margins(m, m, m, m); +// TabBar + +int TabBar::addTab(const QString &text) { + int index = QTabBar::addTab(text); + QToolButton *btn = new ToolButton("x", tr("Close Tab")); + int width = style()->pixelMetric(QStyle::PM_TabCloseIndicatorWidth, nullptr, btn); + int height = style()->pixelMetric(QStyle::PM_TabCloseIndicatorHeight, nullptr, btn); + btn->setFixedSize({width, height}); + setTabButton(index, QTabBar::RightSide, btn); + QObject::connect(btn, &QToolButton::clicked, this, &TabBar::closeTabClicked); + return index; +} - auto colors = index.data(Qt::UserRole).value>(); - for (int i = 0; i < byte_list.size(); ++i) { - if (i < colors.size()) { - painter->fillRect(pos.marginsAdded(margins), colors[i]); +void TabBar::closeTabClicked() { + QObject *object = sender(); + for (int i = 0; i < count(); ++i) { + if (tabButton(i, QTabBar::RightSide) == object) { + emit tabCloseRequested(i); + break; } - painter->drawText(pos, opt.displayAlignment, byte_list[i]); - pos.moveLeft(pos.right() + space.width()); } } -QColor getColor(const Signal *sig) { +QColor getColor(const cabana::Signal *sig) { float h = 19 * (float)sig->lsb / 64.0; h = fmod(h, 1.0); - size_t hash = qHash(QString::fromStdString(sig->name)); + size_t hash = qHash(sig->name); float s = 0.25 + 0.25 * (float)(hash & 0xff) / 255.0; float v = 0.75 + 0.25 * (float)((hash >> 8) & 0xff) / 255.0; return QColor::fromHsvF(h, s, v); } -NameValidator::NameValidator(QObject *parent) : QRegExpValidator(QRegExp("^(\\w+)"), parent) { } +NameValidator::NameValidator(QObject *parent) : QRegExpValidator(QRegExp("^(\\w+)"), parent) {} QValidator::State NameValidator::validate(QString &input, int &pos) const { input.replace(' ', '_'); @@ -122,14 +163,76 @@ QValidator::State NameValidator::validate(QString &input, int &pos) const { namespace utils { QPixmap icon(const QString &id) { - static bool dark_theme = QApplication::style()->standardPalette().color(QPalette::WindowText).value() > - QApplication::style()->standardPalette().color(QPalette::Background).value(); - QPixmap pm = bootstrapPixmap(id); - if (dark_theme) { - QPainter p(&pm); - p.setCompositionMode(QPainter::CompositionMode_SourceIn); - p.fillRect(pm.rect(), Qt::lightGray); + bool dark_theme = settings.theme == DARK_THEME; + QPixmap pm; + QString key = "bootstrap_" % id % (dark_theme ? "1" : "0"); + if (!QPixmapCache::find(key, &pm)) { + pm = bootstrapPixmap(id); + if (dark_theme) { + QPainter p(&pm); + p.setCompositionMode(QPainter::CompositionMode_SourceIn); + p.fillRect(pm.rect(), QColor("#bbbbbb")); + } + QPixmapCache::insert(key, pm); } return pm; } + +void setTheme(int theme) { + auto style = QApplication::style(); + if (!style) return; + + static int prev_theme = 0; + if (theme != prev_theme) { + prev_theme = theme; + QPalette new_palette; + if (theme == DARK_THEME) { + // "Darcula" like dark theme + new_palette.setColor(QPalette::Window, QColor("#353535")); + new_palette.setColor(QPalette::WindowText, QColor("#bbbbbb")); + new_palette.setColor(QPalette::Base, QColor("#3c3f41")); + new_palette.setColor(QPalette::AlternateBase, QColor("#3c3f41")); + new_palette.setColor(QPalette::ToolTipBase, QColor("#3c3f41")); + new_palette.setColor(QPalette::ToolTipText, QColor("#bbb")); + new_palette.setColor(QPalette::Text, QColor("#bbbbbb")); + new_palette.setColor(QPalette::Button, QColor("#3c3f41")); + new_palette.setColor(QPalette::ButtonText, QColor("#bbbbbb")); + new_palette.setColor(QPalette::Highlight, QColor("#2f65ca")); + new_palette.setColor(QPalette::HighlightedText, QColor("#bbbbbb")); + new_palette.setColor(QPalette::BrightText, QColor("#f0f0f0")); + new_palette.setColor(QPalette::Disabled, QPalette::ButtonText, QColor("#777777")); + new_palette.setColor(QPalette::Disabled, QPalette::WindowText, QColor("#777777")); + new_palette.setColor(QPalette::Disabled, QPalette::Text, QColor("#777777"));; + new_palette.setColor(QPalette::Light, QColor("#777777")); + new_palette.setColor(QPalette::Dark, QColor("#353535")); + } else { + new_palette = style->standardPalette(); + } + qApp->setPalette(new_palette); + style->polish(qApp); + for (auto w : QApplication::allWidgets()) { + w->setPalette(new_palette); + } + } +} + } // namespace utils + +QString toHex(uint8_t byte) { + static std::array hex = []() { + std::array ret; + for (int i = 0; i < 256; ++i) ret[i] = QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper(); + return ret; + }(); + return hex[byte]; +} + +int num_decimals(double num) { + const QString string = QString::number(num); + const QStringList split = string.split('.'); + if (split.size() == 1) { + return 0; + } else { + return split[1].size(); + } +} diff --git a/tools/cabana/util.h b/tools/cabana/util.h index eb5203fb0b..3955ab82c5 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -1,43 +1,86 @@ #pragma once -#include +#include +#include +#include #include +#include #include #include #include +#include #include +#include #include -#include "opendbc/can/common_dbc.h" +#include "tools/cabana/dbc/dbc.h" +#include "tools/cabana/settings.h" + +class LogSlider : public QSlider { + Q_OBJECT -class ChangeTracker { public: - void compute(const QByteArray &dat, double ts, uint32_t freq); - void clear(); + LogSlider(double factor, Qt::Orientation orientation, QWidget *parent = nullptr) : factor(factor), QSlider(orientation, parent) {}; - QVector last_change_t; - QVector colors; - QVector> bit_change_counts; + void setRange(double min, double max) { + log_min = factor * std::log10(min); + log_max = factor * std::log10(max); + QSlider::setRange(min, max); + setValue(QSlider::value()); + } + int value() const { + double v = log_min + (log_max - log_min) * ((QSlider::value() - minimum()) / double(maximum() - minimum())); + return std::lround(std::pow(10, v / factor)); + } + void setValue(int v) { + double log_v = std::clamp(factor * std::log10(v), log_min, log_max); + v = minimum() + (maximum() - minimum()) * ((log_v - log_min) / (log_max - log_min)); + QSlider::setValue(v); + } private: - const int periodic_threshold = 10; - const int start_alpha = 128; - const float fade_time = 2.0; - QByteArray prev_dat; + double factor, log_min = 0, log_max = 1; +}; + +enum { + ColorsRole = Qt::UserRole + 1, + BytesRole = Qt::UserRole + 2 +}; + +class SegmentTree { +public: + SegmentTree() = default; + void build(const QVector &arr); + inline std::pair minmax(int left, int right) const { return get_minmax(1, 0, size - 1, left, right); } + +private: + std::pair get_minmax(int n, int left, int right, int range_left, int range_right) const; + void build_tree(const QVector &arr, int n, int left, int right); + std::vector> tree; + int size = 0; }; class MessageBytesDelegate : public QStyledItemDelegate { Q_OBJECT public: - MessageBytesDelegate(QObject *parent); + MessageBytesDelegate(QObject *parent, bool multiple_lines = false); void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; + QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override; + void setMultipleLines(bool v); + int widthForBytes(int n) const; + bool multipleLines() const { return multiple_lines; } + +private: QFont fixed_font; + QSize byte_size = {}; + bool multiple_lines = false; + mutable QSize size_cache[65] = {}; }; inline QString toHex(const QByteArray &dat) { return dat.toHex(' ').toUpper(); } -inline char toHex(uint value) { return "0123456789ABCDEF"[value & 0xF]; } -QColor getColor(const Signal *sig); +QString toHex(uint8_t byte); +QColor getColor(const cabana::Signal *sig); class NameValidator : public QRegExpValidator { Q_OBJECT @@ -49,4 +92,44 @@ public: namespace utils { QPixmap icon(const QString &id); +void setTheme(int theme); +inline QString formatSeconds(int seconds) { + return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss"); +} } + +class ToolButton : public QToolButton { + Q_OBJECT +public: + ToolButton(const QString &icon, const QString &tooltip = {}, QWidget *parent = nullptr) : QToolButton(parent) { + setIcon(icon); + setToolTip(tooltip); + setAutoRaise(true); + const int metric = QApplication::style()->pixelMetric(QStyle::PM_SmallIconSize); + setIconSize({metric, metric}); + theme = settings.theme; + connect(&settings, &Settings::changed, this, &ToolButton::updateIcon); + } + void setIcon(const QString &icon) { + icon_str = icon; + QToolButton::setIcon(utils::icon(icon_str)); + } + +private: + void updateIcon() { if (std::exchange(theme, settings.theme) != theme) setIcon(icon_str); } + QString icon_str; + int theme; +}; + +class TabBar : public QTabBar { + Q_OBJECT + +public: + TabBar(QWidget *parent) : QTabBar(parent) {} + int addTab(const QString &text); + +private: + void closeTabClicked(); +}; + +int num_decimals(double num); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index f77f7c306d..ed0704a676 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -1,32 +1,32 @@ #include "tools/cabana/videowidget.h" -#include #include -#include +#include #include #include -#include +#include #include -#include #include -#include #include #include -inline QString formatTime(int seconds) { - return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss"); -} - -VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - QFrame *frame = new QFrame(this); - frame->setFrameShape(QFrame::StyledPanel); - frame->setFrameShadow(QFrame::Sunken); - main_layout->addWidget(frame); - - QVBoxLayout *frame_layout = new QVBoxLayout(frame); +const int MIN_VIDEO_HEIGHT = 100; +const int THUMBNAIL_MARGIN = 3; + +static const QColor timeline_colors[] = { + [(int)TimelineType::None] = QColor(111, 143, 175), + [(int)TimelineType::Engaged] = QColor(0, 163, 108), + [(int)TimelineType::UserFlag] = Qt::magenta, + [(int)TimelineType::AlertInfo] = Qt::green, + [(int)TimelineType::AlertWarning] = QColor(255, 195, 0), + [(int)TimelineType::AlertCritical] = QColor(199, 0, 57), +}; + +VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) { + setFrameStyle(QFrame::StyledPanel | QFrame::Plain); + auto main_layout = new QVBoxLayout(this); if (!can->liveStreaming()) { - frame_layout->addWidget(createCameraWidget()); + main_layout->addWidget(createCameraWidget()); } // btn controls @@ -38,8 +38,6 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { QButtonGroup *group = new QButtonGroup(this); group->setExclusive(true); for (float speed : {0.1, 0.5, 1., 2.}) { - if (can->liveStreaming() && speed > 1) continue; - QPushButton *btn = new QPushButton(QString("%1x").arg(speed), this); btn->setCheckable(true); QObject::connect(btn, &QPushButton::clicked, [=]() { can->setSpeed(speed); }); @@ -47,32 +45,53 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { group->addButton(btn); if (speed == 1.0) btn->setChecked(true); } - frame_layout->addLayout(control_layout); + main_layout->addLayout(control_layout); + setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum); QObject::connect(play_btn, &QPushButton::clicked, []() { can->pause(!can->isPaused()); }); QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState); QObject::connect(can, &AbstractStream::resume, this, &VideoWidget::updatePlayBtnState); + QObject::connect(&settings, &Settings::changed, this, &VideoWidget::updatePlayBtnState); updatePlayBtnState(); setWhatsThis(tr(R"( Video
- Shortcuts:
- Pause/Resume: space
- )")); + Timeline color + + + + + + + +
■ Disengaged ■ Engaged
■ User Flag ■ Info
■ Warning ■ Critical
+ Shortcuts
+ Pause/Resume:  space  + )").arg(timeline_colors[(int)TimelineType::None].name(), + timeline_colors[(int)TimelineType::Engaged].name(), + timeline_colors[(int)TimelineType::UserFlag].name(), + timeline_colors[(int)TimelineType::AlertInfo].name(), + timeline_colors[(int)TimelineType::AlertWarning].name(), + timeline_colors[(int)TimelineType::AlertCritical].name())); } QWidget *VideoWidget::createCameraWidget() { QWidget *w = new QWidget(this); QVBoxLayout *l = new QVBoxLayout(w); l->setContentsMargins(0, 0, 0, 0); - cam_widget = new CameraWidget("camerad", can->visionStreamType(), false); - l->addWidget(cam_widget); + + QStackedLayout *stacked = new QStackedLayout(); + stacked->setStackingMode(QStackedLayout::StackAll); + stacked->addWidget(cam_widget = new CameraWidget("camerad", can->visionStreamType(), false)); + cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT); + cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); + stacked->addWidget(alert_label = new InfoLabel(this)); + l->addLayout(stacked); // slider controls - slider_layout = new QHBoxLayout(); - time_label = new ElidedLabel("00:00"); - time_label->setToolTip(tr("Click to set current time")); + auto slider_layout = new QHBoxLayout(); + time_label = new QLabel("00:00"); slider_layout->addWidget(time_label); slider = new Slider(this); @@ -83,40 +102,19 @@ QWidget *VideoWidget::createCameraWidget() { slider_layout->addWidget(end_time_label); l->addLayout(slider_layout); - cam_widget->setMinimumHeight(100); - cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); - setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum); - - QObject::connect(time_label, &ElidedLabel::clicked, this, &VideoWidget::timeLabelClicked); + setMaximumTime(can->totalSeconds()); 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(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime); 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())); - slider->setRange(0, can->totalSeconds() * 1000); - }); return w; } -void VideoWidget::timeLabelClicked() { - auto time_edit = new QTimeEdit(this); - auto init_date_time = can->currentDateTime(); - time_edit->setDateTime(init_date_time); - time_edit->setDisplayFormat("hh:mm:ss"); - time_label->setVisible(false); - slider_layout->insertWidget(0, time_edit); - QTimer::singleShot(0, [=]() { time_edit->setFocus(); }); - - QObject::connect(time_edit, &QTimeEdit::editingFinished, [=]() { - if (time_edit->dateTime() != init_date_time) { - int seconds = can->route()->datetime().secsTo(time_edit->dateTime()); - can->seekTo(seconds); - } - time_edit->setVisible(false); - time_label->setVisible(true); - time_edit->deleteLater(); - }); +void VideoWidget::setMaximumTime(double sec) { + maximum_time = sec; + end_time_label->setText(utils::formatSeconds(sec)); + slider->setRange(0, sec * 1000); } void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) { @@ -124,15 +122,24 @@ void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) { if (!is_zoomed) { min = 0; - max = can->totalSeconds(); + max = maximum_time; } - end_time_label->setText(formatTime(max)); + end_time_label->setText(utils::formatSeconds(max)); slider->setRange(min * 1000, max * 1000); } void VideoWidget::updateState() { - if (!slider->isSliderDown()) + if (!slider->isSliderDown()) { slider->setValue(can->currentSec() * 1000); + } + std::lock_guard lk(slider->thumbnail_lock); + uint64_t mono_time = (can->currentSec() + can->routeStartTime()) * 1e9; + auto it = slider->alerts.lower_bound(mono_time); + if (it != slider->alerts.end() && (it->first - mono_time) < 1e9) { + alert_label->showAlert(it->second); + } else { + alert_label->showAlert({}); + } } void VideoWidget::updatePlayBtnState() { @@ -141,17 +148,16 @@ void VideoWidget::updatePlayBtnState() { } // Slider -Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) { - QTimer *timer = new QTimer(this); - timer->setInterval(2000); +Slider::Slider(QWidget *parent) : thumbnail_label(parent), QSlider(Qt::Horizontal, parent) { + setMouseTracking(true); + auto timer = new QTimer(this); timer->callOnTimeout([this]() { timeline = can->getTimeline(); + std::sort(timeline.begin(), timeline.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); }); update(); }); - setMouseTracking(true); - - QObject::connect(can, SIGNAL(streamStarted()), timer, SLOT(start())); - QObject::connect(can, &AbstractStream::streamStarted, this, &Slider::streamStarted); + timer->start(2000); + thumnail_future = QtConcurrent::run(this, &Slider::loadThumbnails); } Slider::~Slider() { @@ -159,46 +165,38 @@ Slider::~Slider() { thumnail_future.waitForFinished(); } -void Slider::streamStarted() { - abort_load_thumbnail = true; - thumnail_future.waitForFinished(); - abort_load_thumbnail = false; - thumbnails.clear(); - thumnail_future = QtConcurrent::run(this, &Slider::loadThumbnails); -} - void Slider::loadThumbnails() { - const auto segments = can->route()->segments(); + const auto &segments = can->route()->segments(); + double max_time = 0; for (auto it = segments.rbegin(); it != segments.rend() && !abort_load_thumbnail; ++it) { + LogReader log; std::string qlog = it->second.qlog.toStdString(); - if (!qlog.empty()) { - LogReader log; - if (log.load(qlog, &abort_load_thumbnail, {cereal::Event::Which::THUMBNAIL}, true, 0, 3)) { - for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_load_thumbnail; ++ev) { + if (!qlog.empty() && log.load(qlog, &abort_load_thumbnail, {cereal::Event::Which::THUMBNAIL, cereal::Event::Which::CONTROLS_STATE}, true, 0, 3)) { + if (max_time == 0 && !log.events.empty()) { + max_time = (*(log.events.rbegin()))->mono_time / 1e9 - can->routeStartTime(); + emit updateMaximumTime(max_time); + } + for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_load_thumbnail; ++ev) { + if ((*ev)->which == cereal::Event::Which::THUMBNAIL) { auto thumb = (*ev)->event.getThumbnail(); - QString str = getThumbnailString(thumb.getThumbnail()); - std::lock_guard lk(thumbnail_lock); - thumbnails[thumb.getTimestampEof()] = str; + auto data = thumb.getThumbnail(); + if (QPixmap pm; pm.loadFromData(data.begin(), data.size(), "jpeg")) { + pm = pm.scaledToHeight(MIN_VIDEO_HEIGHT - THUMBNAIL_MARGIN * 2, Qt::SmoothTransformation); + std::lock_guard lk(thumbnail_lock); + thumbnails[thumb.getTimestampEof()] = pm; + } + } else if ((*ev)->which == cereal::Event::Which::CONTROLS_STATE) { + auto cs = (*ev)->event.getControlsState(); + if (cs.getAlertType().size() > 0 && cs.getAlertText1().size() > 0) { + std::lock_guard lk(thumbnail_lock); + alerts.emplace((*ev)->mono_time, AlertInfo{cs.getAlertStatus(), cs.getAlertText1().cStr(), cs.getAlertText2().cStr()}); + } } } } } } -QString Slider::getThumbnailString(const capnp::Data::Reader &data) { - QPixmap thumb; - if (thumb.loadFromData(data.begin(), data.size(), "jpeg")) { - thumb = thumb.scaled({thumb.width()/3, thumb.height()/3}, Qt::KeepAspectRatio); - thumbnail_size = thumb.size(); - QByteArray bytes; - QBuffer buffer(&bytes); - buffer.open(QIODevice::WriteOnly); - thumb.save(&buffer, "png"); - return QString("").arg(QString(bytes.toBase64())); - } - return {}; -} - void Slider::sliderChange(QAbstractSlider::SliderChange change) { if (change == QAbstractSlider::SliderValueChange) { int x = width() * ((value() - minimum()) / double(maximum() - minimum())); @@ -212,25 +210,18 @@ void Slider::sliderChange(QAbstractSlider::SliderChange change) { } void Slider::paintEvent(QPaintEvent *ev) { - static const QColor colors[] = { - [(int)TimelineType::None] = QColor(111, 143, 175), - [(int)TimelineType::Engaged] = QColor(0, 163, 108), - [(int)TimelineType::UserFlag] = Qt::white, - [(int)TimelineType::AlertInfo] = Qt::green, - [(int)TimelineType::AlertWarning] = QColor(255, 195, 0), - [(int)TimelineType::AlertCritical] = QColor(199, 0, 57)}; - QPainter p(this); QRect r = rect().adjusted(0, 4, 0, -4); - p.fillRect(r, colors[(int)TimelineType::None]); + p.fillRect(r, timeline_colors[(int)TimelineType::None]); double min = minimum() / 1000.0; double max = maximum() / 1000.0; + for (auto [begin, end, type] : timeline) { if (begin > max || end < min) continue; r.setLeft(((std::max(min, (double)begin) - min) / (max - min)) * width()); r.setRight(((std::min(max, (double)end) - min) / (max - min)) * width()); - p.fillRect(r, colors[(int)type]); + p.fillRect(r, timeline_colors[(int)type]); } QStyleOptionSlider opt; @@ -252,16 +243,96 @@ void Slider::mousePressEvent(QMouseEvent *e) { } void Slider::mouseMoveEvent(QMouseEvent *e) { - QString thumb; + QPixmap thumb; + AlertInfo alert; + int pos = std::clamp(e->pos().x(), 0, width()); + double seconds = (minimum() + pos * ((maximum() - minimum()) / (double)width())) / 1000.0; { - double seconds = (minimum() + e->pos().x() * ((maximum() - minimum()) / (double)width())) / 1000.0; std::lock_guard lk(thumbnail_lock); - auto it = thumbnails.lowerBound((seconds + can->routeStartTime()) * 1e9); - if (it != thumbnails.end()) { - thumb = it.value(); + uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9; + auto it = thumbnails.lowerBound(mono_time); + if (it != thumbnails.end()) thumb = it.value(); + auto alert_it = alerts.lower_bound(mono_time); + if (alert_it != alerts.end() && (alert_it->first - mono_time) < 1e9) { + alert = alert_it->second; } } - QPoint pt = mapToGlobal({e->pos().x() - thumbnail_size.width() / 2, -thumbnail_size.height() - 30}); - QToolTip::showText(pt, thumb, this, rect()); + int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, rect().right() - thumb.width() - THUMBNAIL_MARGIN); + int y = -thumb.height(); + thumbnail_label.showPixmap(mapToParent({x, y}), utils::formatSeconds(seconds), thumb, alert); QSlider::mouseMoveEvent(e); } + +bool Slider::event(QEvent *event) { + switch (event->type()) { + case QEvent::WindowActivate: + case QEvent::WindowDeactivate: + case QEvent::FocusIn: + case QEvent::FocusOut: + case QEvent::Leave: + thumbnail_label.hide(); + break; + default: + break; + } + return QSlider::event(event); +} + +// InfoLabel + +InfoLabel::InfoLabel(QWidget *parent) : QWidget(parent, Qt::WindowStaysOnTopHint) { + setAttribute(Qt::WA_ShowWithoutActivating); + setVisible(false); +} + +void InfoLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const AlertInfo &alert) { + pixmap = pm; + second = sec; + alert_info = alert; + setVisible(!pm.isNull()); + if (isVisible()) { + resize(pm.size()); + move(pt); + update(); + } +} + +void InfoLabel::showAlert(const AlertInfo &alert) { + alert_info = alert; + pixmap = {}; + setVisible(!alert_info.text1.isEmpty()); + update(); +} + +void InfoLabel::paintEvent(QPaintEvent *event) { + QPainter p(this); + p.setPen(QPen(palette().color(QPalette::BrightText), 2)); + if (!pixmap.isNull()) { + p.drawPixmap(0, 0, pixmap); + p.drawRect(rect()); + p.drawText(rect().adjusted(0, 0, 0, -THUMBNAIL_MARGIN), second, Qt::AlignHCenter | Qt::AlignBottom); + } + if (alert_info.text1.size() > 0) { + QColor color = timeline_colors[(int)TimelineType::AlertInfo]; + if (alert_info.status == cereal::ControlsState::AlertStatus::USER_PROMPT) { + color = timeline_colors[(int)TimelineType::AlertWarning]; + } else if (alert_info.status == cereal::ControlsState::AlertStatus::CRITICAL) { + color = timeline_colors[(int)TimelineType::AlertCritical]; + } + color.setAlphaF(0.5); + QString text = alert_info.text1; + if (!alert_info.text2.isEmpty()) { + text += "\n" + alert_info.text2; + } + + if (!pixmap.isNull()) { + QFont font; + font.setPixelSize(11); + p.setFont(font); + } + QRect text_rect = rect().adjusted(2, 2, -2, -2); + QRect r = p.fontMetrics().boundingRect(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text); + p.fillRect(text_rect.left(), r.top(), text_rect.width(), r.height(), color); + p.drawText(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text); + } +} diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 51197eedd6..59bc112bd0 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -3,16 +3,31 @@ #include #include -#include #include #include #include #include #include "selfdrive/ui/qt/widgets/cameraview.h" -#include "selfdrive/ui/qt/widgets/controls.h" #include "tools/cabana/streams/abstractstream.h" +struct AlertInfo { + cereal::ControlsState::AlertStatus status; + QString text1; + QString text2; +}; + +class InfoLabel : public QWidget { +public: + InfoLabel(QWidget *parent); + void showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const AlertInfo &alert); + void showAlert(const AlertInfo &alert); + void paintEvent(QPaintEvent *event) override; + QPixmap pixmap; + QString second; + AlertInfo alert_info; +}; + class Slider : public QSlider { Q_OBJECT @@ -20,41 +35,47 @@ public: Slider(QWidget *parent); ~Slider(); +signals: + void updateMaximumTime(double); + private: void mousePressEvent(QMouseEvent *e) override; void mouseMoveEvent(QMouseEvent *e) override; + bool event(QEvent *event) override; void sliderChange(QAbstractSlider::SliderChange change) override; void paintEvent(QPaintEvent *ev) override; - void streamStarted(); void loadThumbnails(); - QString getThumbnailString(const capnp::Data::Reader &data); + double max_sec = 0; int slider_x = -1; std::vector> timeline; std::mutex thumbnail_lock; std::atomic abort_load_thumbnail = false; - QMap thumbnails; + QMap thumbnails; + std::map alerts; QFuture thumnail_future; - QSize thumbnail_size = {}; + InfoLabel thumbnail_label; + friend class VideoWidget; }; -class VideoWidget : public QWidget { +class VideoWidget : public QFrame { Q_OBJECT public: VideoWidget(QWidget *parnet = nullptr); void rangeChanged(double min, double max, bool is_zommed); + void setMaximumTime(double sec); protected: void updateState(); void updatePlayBtnState(); - void timeLabelClicked(); QWidget *createCameraWidget(); CameraWidget *cam_widget; + double maximum_time = 0; QLabel *end_time_label; - ElidedLabel *time_label; - QHBoxLayout *slider_layout; + QLabel *time_label; QPushButton *play_btn; + InfoLabel *alert_label; Slider *slider; }; diff --git a/tools/gpstest/rpc_server.py b/tools/gpstest/rpc_server.py index b35c66d02d..178e8b2c3c 100644 --- a/tools/gpstest/rpc_server.py +++ b/tools/gpstest/rpc_server.py @@ -17,7 +17,7 @@ ALT_DELTA = 30 MATCH_NUM = 10 REPORT_STATS = 10 -EPHEM_CACHE = "/data/params/d/LaikadEphemeris" +EPHEM_CACHE = "/data/params/d/LaikadEphemerisV3" DOWNLOAD_CACHE = "/tmp/comma_download_cache" SERVER_LOG_FILE = "/tmp/fuzzy_server.log" diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py index 8bc5dc89a8..2c08c105a1 100644 --- a/tools/gpstest/test_gps.py +++ b/tools/gpstest/test_gps.py @@ -5,7 +5,7 @@ import struct from common.params import Params import cereal.messaging as messaging -import selfdrive.sensord.pigeond as pd +import system.sensord.pigeond as pd from system.hardware import TICI from selfdrive.test.helpers import with_processes diff --git a/tools/gpstest/test_laikad.py b/tools/gpstest/test_laikad.py index 613ac991b1..689b0f0b9f 100644 --- a/tools/gpstest/test_laikad.py +++ b/tools/gpstest/test_laikad.py @@ -4,7 +4,7 @@ import time import unittest import cereal.messaging as messaging -import selfdrive.sensord.pigeond as pd +import system.sensord.pigeond as pd from common.params import Params from system.hardware import TICI @@ -39,7 +39,7 @@ class TestLaikad(unittest.TestCase): def setUp(self): # ensure laikad cold start - Params().remove("LaikadEphemeris") + Params().remove("LaikadEphemerisV3") os.environ["LAIKAD_NO_INTERNET"] = "1" managed_processes['laikad'].start() diff --git a/tools/lib/README.md b/tools/lib/README.md index 3cf239d2df..d77eef5ac5 100644 --- a/tools/lib/README.md +++ b/tools/lib/README.md @@ -1,6 +1,6 @@ ## LogReader -Route is a class for conveniently accessing all the [logs](/selfdrive/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos. +Route is a class for conveniently accessing all the [logs](/system/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos. ```python from tools.lib.route import Route diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index dd2041e0cb..6e6538c5c5 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -45,13 +45,14 @@ brew "libarchive" brew "libusb" brew "libtool" brew "llvm" -brew "openssl" +brew "openssl@3.0" brew "pyenv" brew "qt@5" brew "zeromq" brew "protobuf" brew "protobuf-c" brew "swig" +brew "gcc@12" cask "gcc-arm-embedded" EOS diff --git a/tools/plotjuggler/layouts/camera-timings.xml b/tools/plotjuggler/layouts/camera-timings.xml new file mode 100644 index 0000000000..5cc1650909 --- /dev/null +++ b/tools/plotjuggler/layouts/camera-timings.xml @@ -0,0 +1,148 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tools/plotjuggler/layouts/can-states.xml b/tools/plotjuggler/layouts/can-states.xml new file mode 100644 index 0000000000..8c761517e6 --- /dev/null +++ b/tools/plotjuggler/layouts/can-states.xml @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tools/plotjuggler/layouts/controls_mismatch_debug.xml b/tools/plotjuggler/layouts/controls_mismatch_debug.xml index adca3eed29..54586d6e7b 100644 --- a/tools/plotjuggler/layouts/controls_mismatch_debug.xml +++ b/tools/plotjuggler/layouts/controls_mismatch_debug.xml @@ -1,37 +1,44 @@ - + - + - - + + - - + + - - + + - + - - + + - + - - + + - - + + + + + + + + + @@ -46,8 +53,8 @@ - - + + diff --git a/tools/plotjuggler/layouts/ublox-debug.xml b/tools/plotjuggler/layouts/ublox-debug.xml new file mode 100644 index 0000000000..d595a9ecc7 --- /dev/null +++ b/tools/plotjuggler/layouts/ublox-debug.xml @@ -0,0 +1,44 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tools/replay/README.md b/tools/replay/README.md index 2d0b702bd0..6c2cdf9521 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -5,16 +5,16 @@ `replay` replays all the messages logged while running openpilot. ```bash -# Log in via browser to have access to non-public routes +# Log in via browser to have access to routes from your comma account python tools/lib/auth.py # Start a replay tools/replay/replay # Example: -# tools/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36' +tools/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36' # or use --demo to replay the default demo route: -# tools/replay/replay --demo +tools/replay/replay --demo # watch the replay with the normal openpilot UI cd selfdrive/ui && ./ui @@ -64,12 +64,24 @@ cd selfdrive/ui && ./watch3 Replay CAN messages as they were recorded using a [panda jungle](https://comma.ai/shop/products/panda-jungle). The jungle has 6x OBD-C ports for connecting all your comma devices. Check out the [jungle repo](https://github.com/commaai/panda_jungle) for more info. -`can_replay.py` is a convenient script for when any CAN data will do. +In order to run your device as if it was in a car: +* connect a panda jungle to your PC +* connect a comma device or panda to the jungle via OBD-C +* run `can_replay.py` -In order to replay specific route: -```bash -MOCK=1 selfdrive/boardd/tests/boardd_old.py +``` bash +batman:replay$ ./can_replay.py -h +usage: can_replay.py [-h] [route_or_segment_name] -# In another terminal: -tools/replay/replay +Replay CAN messages from a route to all connected pandas and jungles +in a loop. + +positional arguments: + route_or_segment_name + The route or segment name to replay. If not + specified, a default public route will be + used. (default: None) + +optional arguments: + -h, --help show this help message and exit ``` diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index 0b8b4fe0a1..52666c4db0 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import argparse import os import time import threading @@ -11,6 +12,7 @@ from common.basedir import BASEDIR from common.realtime import config_realtime_process, Ratekeeper, DT_CTRL from selfdrive.boardd.boardd import can_capnp_to_can_list from tools.plotjuggler.juggle import load_segment +from tools.lib.logreader import logreader_from_route_or_segment from panda import Panda try: @@ -87,18 +89,27 @@ def connect(): if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Replay CAN messages from a route to all connected pandas and jungles in a loop.", + formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to replay. If not specified, a default public route will be used.") + args = parser.parse_args() + if not panda_jungle_imported: print("\33[31m", "WARNING: cannot connect to jungles. Clone the jungle library to enable support:", "\033[0m") print("\033[34m", f"cd {BASEDIR} && git clone https://github.com/commaai/panda_jungle", "\033[0m") print("Loading log...") - ROUTE = "77611a1fac303767/2020-03-24--09-50-38" - REPLAY_SEGS = list(range(10, 16)) # route has 82 segments available - CAN_MSGS = [] - logs = [f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2" for i in REPLAY_SEGS] - with multiprocessing.Pool(24) as pool: - for lr in tqdm(pool.map(load_segment, logs)): - CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] + if args.route_or_segment_name is None: + ROUTE = "77611a1fac303767/2020-03-24--09-50-38" + REPLAY_SEGS = list(range(10, 16)) # route has 82 segments available + CAN_MSGS = [] + logs = [f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2" for i in REPLAY_SEGS] + with multiprocessing.Pool(24) as pool: + for lr in tqdm(pool.map(load_segment, logs)): + CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] + else: + lr = logreader_from_route_or_segment(args.route_or_segment_name) + CAN_MSGS = [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] # set both to cycle ignition IGN_ON = int(os.getenv("ON", "0")) diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc index 5ad702590c..077861ff96 100644 --- a/tools/replay/consoleui.cc +++ b/tools/replay/consoleui.cc @@ -165,7 +165,10 @@ void ConsoleUI::updateStatus() { sm.update(0); if (status != Status::Paused) { - status = (sm.updated("carState") || sm.updated("liveParameters")) ? Status::Playing : Status::Waiting; + auto events = replay->events(); + uint64_t current_mono_time = replay->routeStartTime() + replay->currentSeconds() * 1e9; + bool playing = !events->empty() && events->back()->mono_time > current_mono_time; + status = playing ? Status::Playing : Status::Waiting; } auto [status_str, status_color] = status_text[status]; write_item(0, 0, "STATUS: ", status_str, " ", false, status_color); diff --git a/tools/replay/framereader.cc b/tools/replay/framereader.cc index a1ff7b9f8e..ed276c627c 100644 --- a/tools/replay/framereader.cc +++ b/tools/replay/framereader.cc @@ -68,14 +68,20 @@ FrameReader::~FrameReader() { bool FrameReader::load(const std::string &url, bool no_hw_decoder, std::atomic *abort, bool local_cache, int chunk_size, int retries) { FileReader f(local_cache, chunk_size, retries); std::string data = f.read(url, abort); - if (data.empty()) return false; + if (data.empty()) { + rWarning("URL %s returned no data", url.c_str()); + return false; + } return load((std::byte *)data.data(), data.size(), no_hw_decoder, abort); } bool FrameReader::load(const std::byte *data, size_t size, bool no_hw_decoder, std::atomic *abort) { input_ctx = avformat_alloc_context(); - if (!input_ctx) return false; + if (!input_ctx) { + rError("Error calling avformat_alloc_context"); + return false; + } struct buffer_data bd = { .data = (const uint8_t*)data, @@ -121,7 +127,10 @@ bool FrameReader::load(const std::byte *data, size_t size, bool no_hw_decoder, s } ret = avcodec_open2(decoder_ctx, decoder, nullptr); - if (ret < 0) return false; + if (ret < 0) { + rError("avcodec_open2 failed %d", ret); + return false; + } packets.reserve(60 * 20); // 20fps, one minute while (!(abort && *abort)) { diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 178b116a87..95315fe71b 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -30,6 +30,9 @@ Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *s // the following events are needed for replay to work properly. allow_list.insert(cereal::Event::Which::INIT_DATA); allow_list.insert(cereal::Event::Which::CAR_PARAMS); + if (sockets_[cereal::Event::Which::PANDA_STATES] != nullptr) { + allow_list.insert(cereal::Event::Which::PANDA_STATE_D_E_P_R_E_C_A_T_E_D); + } } qDebug() << "services " << s; @@ -193,7 +196,7 @@ std::optional Replay::find(FindFlag flag) { void Replay::pause(bool pause) { updateEvents([=]() { - rWarning("%s at %d s", pause ? "paused..." : "resuming", currentSeconds()); + rWarning("%s at %.2f s", pause ? "paused..." : "resuming", currentSeconds()); paused_ = pause; return true; }); diff --git a/tools/replay/replay.h b/tools/replay/replay.h index 6788a97d03..2bb426361b 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -71,6 +71,7 @@ public: inline void setSpeed(float speed) { speed_ = speed; } inline float getSpeed() const { return speed_; } inline const std::vector *events() const { return events_.get(); } + inline const std::map> &segments() const { return segments_; }; inline const std::string &carFingerprint() const { return car_fingerprint_; } inline const std::vector> getTimeline() { std::lock_guard lk(timeline_lock); diff --git a/tools/scripts/setup_ssh_keys.py b/tools/scripts/setup_ssh_keys.py index b6d4486733..8f03303b59 100755 --- a/tools/scripts/setup_ssh_keys.py +++ b/tools/scripts/setup_ssh_keys.py @@ -14,8 +14,10 @@ if __name__ == "__main__": keys = requests.get(f"https://github.com/{username}.keys", timeout=10) if keys.status_code == 200: - Params().put("GithubSshKeys", keys.text) - Params().put("GithubUsername", username) + params = Params() + params.put_bool("SshEnabled", True) + params.put("GithubSshKeys", keys.text) + params.put("GithubUsername", username) print("Setup ssh keys successfully") else: print("Error getting public keys from github") diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim index be16f8c863..48aa12ebc6 100644 --- a/tools/sim/Dockerfile.sim +++ b/tools/sim/Dockerfile.sim @@ -14,6 +14,7 @@ RUN mkdir -p $HOME/openpilot COPY SConstruct $HOME/openpilot/ +COPY ./body $HOME/openpilot/body COPY ./third_party $HOME/openpilot/third_party COPY ./site_scons $HOME/openpilot/site_scons COPY ./rednose $HOME/openpilot/rednose diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh index 71bad2e8a2..97b706de5b 100755 --- a/tools/ubuntu_setup.sh +++ b/tools/ubuntu_setup.sh @@ -53,6 +53,8 @@ function install_ubuntu_common_requirements() { libgles2-mesa-dev \ libglfw3-dev \ libglib2.0-0 \ + libncurses5-dev \ + libncursesw5-dev \ libomp-dev \ libopencv-dev \ libpng16-16 \ diff --git a/update_requirements.sh b/update_requirements.sh index b430df59e5..b2b36e7097 100755 --- a/update_requirements.sh +++ b/update_requirements.sh @@ -50,25 +50,27 @@ pip install poetry==1.2.2 poetry config virtualenvs.prefer-active-python true --local -POETRY_INSTALL_ARGS="" -if [ -d "./xx" ] || [ -n "$XX" ]; then - echo "WARNING: using xx dependency group, installing globally" - poetry config virtualenvs.create false --local - POETRY_INSTALL_ARGS="--with xx --sync" +if [[ -n "$XX" ]] || [[ "$(basename "$(dirname "$(pwd)")")" == "xx" ]]; then + XX=true fi -echo "pip packages install..." -poetry install --no-cache --no-root $POETRY_INSTALL_ARGS -pyenv rehash +POETRY_INSTALL_ARGS="--no-cache --no-root" -if [ -d "./xx" ] || [ -n "$POETRY_VIRTUALENVS_CREATE" ]; then - RUN="" +if [ -n "$XX" ]; then + echo "WARNING: using xx dependency group, installing globally" + poetry config virtualenvs.create false --local + POETRY_INSTALL_ARGS="$POETRY_INSTALL_ARGS --with xx --sync" else echo "PYTHONPATH=${PWD}" > .env poetry self add poetry-dotenv-plugin@^0.1.0 - RUN="poetry run" fi +echo "pip packages install..." +poetry install $POETRY_INSTALL_ARGS +pyenv rehash + +[ -n "$XX" ] || [ -n "$POETRY_VIRTUALENVS_CREATE" ] && RUN="" || RUN="poetry run" + if [ "$(uname)" != "Darwin" ]; then echo "pre-commit hooks install..." shopt -s nullglob