From fd2e03decf0a89e1c04e0a8d6aee0bf033d2ec0b Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 6 Mar 2023 02:44:56 +0000 Subject: [PATCH 01/43] Ford: add missing Explorer FW (#27502) `1493c38de09a381a|2023-03-05--21-10-07--0` VIN: `1FMSK8FH6LGB17698` --- selfdrive/car/ford/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 3bc56eb9dd..50c7d93987 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -165,6 +165,7 @@ FW_VERSIONS = { b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x760, None): [ + 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', @@ -178,6 +179,7 @@ FW_VERSIONS = { b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7E0, None): [ + 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', From e729f5b763a98f4156c1761f1511135cc32121d3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 6 Mar 2023 15:36:39 -0800 Subject: [PATCH 02/43] Remove dashcam override param (#27509) * remove dashcam override * sort * remove ford from segments --- common/params.cc | 1 - selfdrive/controls/controlsd.py | 3 --- selfdrive/test/process_replay/process_replay.py | 3 --- selfdrive/test/process_replay/test_processes.py | 3 +-- 4 files changed, 1 insertion(+), 9 deletions(-) diff --git a/common/params.cc b/common/params.cc index 2ba4f7e8ab..e74c63bf6a 100644 --- a/common/params.cc +++ b/common/params.cc @@ -99,7 +99,6 @@ std::unordered_map keys = { {"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}, {"DisablePowerDown", PERSISTENT}, {"ExperimentalMode", PERSISTENT}, diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index f49b58212a..1391d6570c 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -112,9 +112,6 @@ 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") diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 7dc0b139a3..971ddb3fe2 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -449,9 +449,6 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None): 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] diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 569090f606..07117c2e7f 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -29,12 +29,12 @@ source_segments = [ ("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 # Enable when port is tested and dashcamOnly is no longer set + #("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1 #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"), # TESLA.AP2_MODELS #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"), # VOLKSWAGEN.PASSAT_NMS ] @@ -53,7 +53,6 @@ segments = [ ("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"), From 3892c6098085ad05878f78aef0afefac55e38306 Mon Sep 17 00:00:00 2001 From: George Hotz <72895+geohot@users.noreply.github.com> Date: Mon, 6 Mar 2023 15:50:28 -0800 Subject: [PATCH 03/43] tinygrad: bump to 0.5 (#27505) * bump tinygrad to 0.5 * update release files * ref commit + bump tinygrad * save 220 mW --------- Co-authored-by: Comma Device --- release/files_common | 9 +++++---- selfdrive/modeld/SConscript | 2 +- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- system/hardware/tici/test_power_draw.py | 2 +- tinygrad_repo | 2 +- 5 files changed, 9 insertions(+), 8 deletions(-) diff --git a/release/files_common b/release/files_common index 5b310d5c80..e0f989e9be 100644 --- a/release/files_common +++ b/release/files_common @@ -577,13 +577,14 @@ 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/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/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index c64f522352..ad09668a46 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -ba947edbb131a2a36ced7c490dfcf3280ad5b167 +ab64afd1abd1059c14f50c67b51e5ef89029f216 diff --git a/system/hardware/tici/test_power_draw.py b/system/hardware/tici/test_power_draw.py index 2460152998..6c3f5747e3 100755 --- a/system/hardware/tici/test_power_draw.py +++ b/system/hardware/tici/test_power_draw.py @@ -20,7 +20,7 @@ class Proc: PROCS = [ Proc('camerad', 2.15), - Proc('modeld', 1.15, atol=0.2), + Proc('modeld', 0.93, atol=0.2), Proc('dmonitoringmodeld', 0.4), Proc('encoderd', 0.23), ] 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 From ebd25b8a7de29542be7c6a213c578bc363999857 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 6 Mar 2023 16:13:29 -0800 Subject: [PATCH 04/43] test_power_draw: add header to output table (#27511) * test_power_draw: add header to output table * units --- poetry.lock | 30 +++++++++++-------------- pyproject.toml | 1 + system/hardware/tici/test_power_draw.py | 10 +++++---- 3 files changed, 20 insertions(+), 21 deletions(-) diff --git a/poetry.lock b/poetry.lock index 91e1b5c826..ec4022c81f 100644 --- a/poetry.lock +++ b/poetry.lock @@ -4355,6 +4355,14 @@ python-versions = "*" [package.dependencies] types-urllib3 = "<1.27" +[[package]] +name = "types-tabulate" +version = "0.9.0.1" +description = "Typing stubs for tabulate" +category = "main" +optional = false +python-versions = "*" + [[package]] name = "types-urllib3" version = "1.26.25.1" @@ -4567,7 +4575,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"] [metadata] lock-version = "1.1" python-versions = "~3.8" -content-hash = "9e9495c896e6fd0855803aeaf46513c6c22424b86be820759a8baf27d44e73ee" +content-hash = "669485055bf8d77336509cb7a3878e06aa32431c520825948914d76b57347fde" [metadata.files] adal = [ @@ -6616,7 +6624,6 @@ onnx = [ ] onnx2torch = [ {file = "onnx2torch-1.5.4-py3-none-any.whl", hash = "sha256:fd1a0fe05072bfb9f3d86d9330299b130b41f11bd4ae634db17078974e711725"}, - {file = "onnx2torch-1.5.4.tar.gz", hash = "sha256:df837b557a63540223d85fde4a1d679fde0ca8d8bb89d5379c030b01eddc9c24"}, ] onnxoptimizer = [ {file = "onnxoptimizer-0.3.1-cp37-cp37m-macosx_10_15_x86_64.whl", hash = "sha256:e73a5e2e3ca4db9bff54f7131768749c861677b97ee811a136fcf1a52783cf6e"}, @@ -7002,7 +7009,6 @@ pycryptodome = [ {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:7c9ed8aa31c146bef65d89a1b655f5f4eab5e1120f55fc297713c89c9e56ff0b"}, {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:5099c9ca345b2f252f0c28e96904643153bae9258647585e5e6f649bb7a1844a"}, {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2014_aarch64.whl", hash = "sha256:2ec709b0a58b539a4f9d33fb8508264c3678d7edb33a68b8906ba914f71e8c13"}, - {file = "pycryptodome-3.15.0-cp27-cp27m-musllinux_1_1_aarch64.whl", hash = "sha256:2ae53125de5b0d2c95194d957db9bb2681da8c24d0fb0fe3b056de2bcaf5d837"}, {file = "pycryptodome-3.15.0-cp27-cp27m-win32.whl", hash = "sha256:fd2184aae6ee2a944aaa49113e6f5787cdc5e4db1eb8edb1aea914bd75f33a0c"}, {file = "pycryptodome-3.15.0-cp27-cp27m-win_amd64.whl", hash = "sha256:7e3a8f6ee405b3bd1c4da371b93c31f7027944b2bcce0697022801db93120d83"}, {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux1_i686.whl", hash = "sha256:b9c5b1a1977491533dfd31e01550ee36ae0249d78aae7f632590db833a5012b8"}, @@ -7010,14 +7016,12 @@ pycryptodome = [ {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:2aa55aae81f935a08d5a3c2042eb81741a43e044bd8a81ea7239448ad751f763"}, {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:c3640deff4197fa064295aaac10ab49a0d55ef3d6a54ae1499c40d646655c89f"}, {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2014_aarch64.whl", hash = "sha256:045d75527241d17e6ef13636d845a12e54660aa82e823b3b3341bcf5af03fa79"}, - {file = "pycryptodome-3.15.0-cp27-cp27mu-musllinux_1_1_aarch64.whl", hash = "sha256:eb6fce570869e70cc8ebe68eaa1c26bed56d40ad0f93431ee61d400525433c54"}, {file = "pycryptodome-3.15.0-cp35-abi3-macosx_10_9_x86_64.whl", hash = "sha256:9ee40e2168f1348ae476676a2e938ca80a2f57b14a249d8fe0d3cdf803e5a676"}, {file = "pycryptodome-3.15.0-cp35-abi3-manylinux1_i686.whl", hash = "sha256:4c3ccad74eeb7b001f3538643c4225eac398c77d617ebb3e57571a897943c667"}, {file = "pycryptodome-3.15.0-cp35-abi3-manylinux1_x86_64.whl", hash = "sha256:1b22bcd9ec55e9c74927f6b1f69843cb256fb5a465088ce62837f793d9ffea88"}, {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2010_i686.whl", hash = "sha256:57f565acd2f0cf6fb3e1ba553d0cb1f33405ec1f9c5ded9b9a0a5320f2c0bd3d"}, {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2010_x86_64.whl", hash = "sha256:4b52cb18b0ad46087caeb37a15e08040f3b4c2d444d58371b6f5d786d95534c2"}, {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2014_aarch64.whl", hash = "sha256:092a26e78b73f2530b8bd6b3898e7453ab2f36e42fd85097d705d6aba2ec3e5e"}, - {file = "pycryptodome-3.15.0-cp35-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:50ca7e587b8e541eb6c192acf92449d95377d1f88908c0a32ac5ac2703ebe28b"}, {file = "pycryptodome-3.15.0-cp35-abi3-win32.whl", hash = "sha256:e244ab85c422260de91cda6379e8e986405b4f13dc97d2876497178707f87fc1"}, {file = "pycryptodome-3.15.0-cp35-abi3-win_amd64.whl", hash = "sha256:c77126899c4b9c9827ddf50565e93955cb3996813c18900c16b2ea0474e130e9"}, {file = "pycryptodome-3.15.0-pp27-pypy_73-macosx_10_9_x86_64.whl", hash = "sha256:9eaadc058106344a566dc51d3d3a758ab07f8edde013712bc8d22032a86b264f"}, @@ -7659,18 +7663,6 @@ setproctitle = [ {file = "setproctitle-1.3.2-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:7f2719a398e1a2c01c2a63bf30377a34d0b6ef61946ab9cf4d550733af8f1ef1"}, {file = "setproctitle-1.3.2-cp310-cp310-win32.whl", hash = "sha256:e425be62524dc0c593985da794ee73eb8a17abb10fe692ee43bb39e201d7a099"}, {file = "setproctitle-1.3.2-cp310-cp310-win_amd64.whl", hash = "sha256:e85e50b9c67854f89635a86247412f3ad66b132a4d8534ac017547197c88f27d"}, - {file = "setproctitle-1.3.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:2a97d51c17d438cf5be284775a322d57b7ca9505bb7e118c28b1824ecaf8aeaa"}, - {file = "setproctitle-1.3.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:587c7d6780109fbd8a627758063d08ab0421377c0853780e5c356873cdf0f077"}, - {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d7d17c8bd073cbf8d141993db45145a70b307385b69171d6b54bcf23e5d644de"}, - {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:e932089c35a396dc31a5a1fc49889dd559548d14cb2237adae260382a090382e"}, - {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8e4f8f12258a8739c565292a551c3db62cca4ed4f6b6126664e2381acb4931bf"}, - {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:570d255fd99c7f14d8f91363c3ea96bd54f8742275796bca67e1414aeca7d8c3"}, - {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:a8e0881568c5e6beff91ef73c0ec8ac2a9d3ecc9edd6bd83c31ca34f770910c4"}, - {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:4bba3be4c1fabf170595b71f3af46c6d482fbe7d9e0563999b49999a31876f77"}, - {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:37ece938110cab2bb3957e3910af8152ca15f2b6efdf4f2612e3f6b7e5459b80"}, - {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:db684d6bbb735a80bcbc3737856385b55d53f8a44ce9b46e9a5682c5133a9bf7"}, - {file = "setproctitle-1.3.2-cp311-cp311-win32.whl", hash = "sha256:ca58cd260ea02759238d994cfae844fc8b1e206c684beb8f38877dcab8451dfc"}, - {file = "setproctitle-1.3.2-cp311-cp311-win_amd64.whl", hash = "sha256:88486e6cce2a18a033013d17b30a594f1c5cb42520c49c19e6ade40b864bb7ff"}, {file = "setproctitle-1.3.2-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:92c626edc66169a1b09e9541b9c0c9f10488447d8a2b1d87c8f0672e771bc927"}, {file = "setproctitle-1.3.2-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:710e16fa3bade3b026907e4a5e841124983620046166f355bbb84be364bf2a02"}, {file = "setproctitle-1.3.2-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:1f29b75e86260b0ab59adb12661ef9f113d2f93a59951373eb6d68a852b13e83"}, @@ -8066,6 +8058,10 @@ 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-0.9.0.1.tar.gz", hash = "sha256:e486292c279f19247865bdabe802419740a0e74b53444e7f7a8009e08129da5d"}, + {file = "types_tabulate-0.9.0.1-py3-none-any.whl", hash = "sha256:be2ea0de05f615ccfcbadf6206aa720e265955eb1de23e343aec9d8bf3fa9aaa"}, +] 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..b1ad273cd7 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -59,6 +59,7 @@ urllib3 = "^1.26.10" utm = "^0.7.0" websocket_client = "^1.3.3" polyline = "^1.4.0" +types-tabulate = "^0.9.0.1" [tool.poetry.group.dev.dependencies] diff --git a/system/hardware/tici/test_power_draw.py b/system/hardware/tici/test_power_draw.py index 6c3f5747e3..f563933285 100755 --- a/system/hardware/tici/test_power_draw.py +++ b/system/hardware/tici/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 @@ -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)', 'current (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__": From ddcafeb7dcac709dbd517e619fe3807cfc898198 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 8 Mar 2023 02:08:33 +0800 Subject: [PATCH 05/43] cabana: improve the performance of updating TreeView in real-time. (#27517) --- tools/cabana/signaledit.cc | 18 ++++++++++++------ tools/cabana/signaledit.h | 1 + 2 files changed, 13 insertions(+), 6 deletions(-) diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index e425a13f82..5684edf95a 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -1,7 +1,7 @@ #include "tools/cabana/signaledit.h" +#include #include -#include #include #include #include @@ -304,11 +304,17 @@ SignalItemDelegate::SignalItemDelegate(QObject *parent) : QStyledItemDelegate(pa } QSize SignalItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const { - QSize size = QStyledItemDelegate::sizeHint(option, index); - if (index.column() == 0 && !index.parent().isValid()) { - size.rwidth() = std::min(option.widget->size().width() / 2, size.width() + color_label_width + 8); + 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(width, it.value()); } - return size; + return {width, QApplication::fontMetrics().height()}; } void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { @@ -508,7 +514,7 @@ void SignalView::signalHovered(const Signal *sig) { 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)); + emit model->dataChanged(model->index(i, 0), model->index(i, 0), {Qt::DecorationRole}); } } } diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index 73a107f5c9..da3bc36c62 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -85,6 +85,7 @@ public: QValidator *name_validator, *double_validator; QFont small_font; const int color_label_width = 18; + mutable QHash width_cache; }; class SignalView : public QFrame { From 186c48137a8cf94ec28136ca9a6f50d8512c3987 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 7 Mar 2023 13:39:36 -0500 Subject: [PATCH 06/43] =?UTF-8?q?VW=20MQB:=20=C5=A0koda=20Fabia=20Mk4=20(#?= =?UTF-8?q?27520)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * VW MQB: Škoda Fabia Mk4 * typo --- RELEASES.md | 1 + docs/CARS.md | 3 ++- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/substitute.yaml | 1 + selfdrive/car/volkswagen/interface.py | 4 ++++ selfdrive/car/volkswagen/values.py | 19 +++++++++++++++++++ 6 files changed, 28 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index f71810784a..9cfcbafea1 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,6 +1,7 @@ Version 0.9.2 (2023-03-XX) ======================== * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do. +* Škoda Fabia 2022-23 support thanks to jyoung8607! Version 0.9.1 (2023-02-28) ======================== diff --git a/docs/CARS.md b/docs/CARS.md index 20155f306b..426db94f89 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ 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. -# 237 Supported Cars +# 238 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -161,6 +161,7 @@ A supported vehicle is one that just works when you install a comma three. All s |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|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)](##)|J533[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)](##)|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|| diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 02e37492d3..4ca7c0a16c 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -206,6 +206,7 @@ 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/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index 61243424f0..696d9829d1 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -56,6 +56,7 @@ 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/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 521c68184d..2f8bd8661b 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -187,6 +187,10 @@ 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/values.py b/selfdrive/car/volkswagen/values.py index 4eef1307be..c5868e16f3 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -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 @@ -239,6 +240,7 @@ 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"), @@ -1009,6 +1011,23 @@ 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', From f7c15c1708ab0ab42f916162ea26ca52226ce81f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 7 Mar 2023 11:05:20 -0800 Subject: [PATCH 07/43] pandad unit tests (#27516) * pandad unit tests * only one * in bootstub * run in jenkins * phone only --- Jenkinsfile | 1 + selfdrive/boardd/tests/test_pandad.py | 48 +++++++++++++++++++++++++++ 2 files changed, 49 insertions(+) create mode 100755 selfdrive/boardd/tests/test_pandad.py diff --git a/Jenkinsfile b/Jenkinsfile index 30c045e419..0450f33175 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -161,6 +161,7 @@ pipeline { ["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 manager", "python selfdrive/manager/test/test_manager.py"], + ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"], ]) } } diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py new file mode 100755 index 0000000000..3b2369b39b --- /dev/null +++ b/selfdrive/boardd/tests/test_pandad.py @@ -0,0 +1,48 @@ +#!/usr/bin/env python3 +import time +import unittest + +import cereal.messaging as messaging +from panda import Panda +from selfdrive.test.helpers import phone_only +from selfdrive.manager.process_config import managed_processes +from system.hardware import HARDWARE + + +class TestPandad(unittest.TestCase): + + def tearDown(self): + managed_processes['pandad'].stop() + + def _wait_for_boardd(self): + sm = messaging.SubMaster(['peripheralState']) + for _ in range(30): + sm.update(1000) + if sm.updated['peripheralState']: + break + + if not sm.updated['peripheralState']: + 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() + + @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() + + #def test_out_of_date_fw(self): + # pass + + +if __name__ == "__main__": + unittest.main() From 5326c14b433371861a0014675d833a4d3e6602bc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 7 Mar 2023 16:17:23 -0800 Subject: [PATCH 08/43] bump panda (#27510) * bump panda * fix mypy * bump panda --- panda | 2 +- selfdrive/boardd/pandad.py | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/panda b/panda index e0e754de2c..79210e8c2b 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit e0e754de2c7fdbf943dd02db203b7bb40bf3e9b5 +Subproject commit 79210e8c2b8dbddda474cafd68d7ee0c8d0e4a40 diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index f61d9ee1a6..f292b921cf 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -84,9 +84,9 @@ def main() -> NoReturn: 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() + for serial in PandaDFU.list(): + cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}") + PandaDFU(serial).recover() time.sleep(1) panda_serials = Panda.list() From 38eea8948469bcfdb5ea376e6507bc8f0074313c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 7 Mar 2023 20:37:40 -0800 Subject: [PATCH 09/43] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 79210e8c2b..b231281c8b 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 79210e8c2b8dbddda474cafd68d7ee0c8d0e4a40 +Subproject commit b231281c8b2c79c46892576dee4c8a56d5e0b2d2 From ce900f34d08b423e9f3ebed0d028692bb9198dea Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 7 Mar 2023 20:56:39 -0800 Subject: [PATCH 10/43] Ubloxd: subframe 0 is not valid (#27528) No 0 strings --- selfdrive/locationd/ublox_msg.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/locationd/ublox_msg.cc b/selfdrive/locationd/ublox_msg.cc index b746989466..77ca9099ed 100644 --- a/selfdrive/locationd/ublox_msg.cc +++ b/selfdrive/locationd/ublox_msg.cc @@ -183,7 +183,7 @@ 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(); } @@ -283,7 +283,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ 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(); } From 6f40f0d4427f4238c3939a64d1d6baa7d77f1ecc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 8 Mar 2023 10:56:54 -0800 Subject: [PATCH 11/43] sensord: move to system/ (#27531) * sensord: move to system/ * add gitignore to releaes files --- .gitignore | 3 --- Jenkinsfile | 6 ++--- SConstruct | 2 +- docs/c_docs.rst | 2 +- release/files_common | 13 ++++++----- release/files_tici | 2 +- selfdrive/locationd/locationd.h | 2 +- selfdrive/manager/process_config.py | 6 ++--- system/sensord/.gitignore | 1 + {selfdrive => system}/sensord/SConscript | 0 {selfdrive => system}/sensord/__init__.py | 0 {selfdrive => system}/sensord/pigeond.py | 0 .../sensord/rawgps/compare.py | 0 .../sensord/rawgps/modemdiag.py | 0 .../sensord/rawgps/rawgpsd.py | 4 ++-- .../sensord/rawgps/structs.py | 0 .../sensord/rawgps/test_rawgps.py | 0 {selfdrive => system}/sensord/sensord | 0 .../sensord/sensors/bmx055_accel.cc | 0 .../sensord/sensors/bmx055_accel.h | 2 +- .../sensord/sensors/bmx055_gyro.cc | 0 .../sensord/sensors/bmx055_gyro.h | 2 +- .../sensord/sensors/bmx055_magn.cc | 0 .../sensord/sensors/bmx055_magn.h | 2 +- .../sensord/sensors/bmx055_temp.cc | 2 +- .../sensord/sensors/bmx055_temp.h | 4 ++-- .../sensord/sensors/constants.h | 0 .../sensord/sensors/file_sensor.cc | 0 .../sensord/sensors/file_sensor.h | 2 +- .../sensord/sensors/i2c_sensor.cc | 0 .../sensord/sensors/i2c_sensor.h | 4 ++-- .../sensord/sensors/light_sensor.cc | 2 +- .../sensord/sensors/light_sensor.h | 0 .../sensord/sensors/lsm6ds3_accel.cc | 0 .../sensord/sensors/lsm6ds3_accel.h | 2 +- .../sensord/sensors/lsm6ds3_gyro.cc | 0 .../sensord/sensors/lsm6ds3_gyro.h | 2 +- .../sensord/sensors/lsm6ds3_temp.cc | 0 .../sensord/sensors/lsm6ds3_temp.h | 2 +- .../sensord/sensors/mmc5603nj_magn.cc | 0 .../sensord/sensors/mmc5603nj_magn.h | 2 +- .../sensord/sensors/sensor.h | 0 .../sensord/sensors_qcom2.cc | 22 +++++++++---------- .../sensord/tests/__init__.py | 0 .../sensord/tests/test_pigeond.py | 0 .../sensord/tests/test_sensord.py | 0 .../sensord/tests/ttff_test.py | 0 tools/gpstest/test_gps.py | 2 +- tools/gpstest/test_laikad.py | 2 +- 49 files changed, 47 insertions(+), 48 deletions(-) create mode 100644 system/sensord/.gitignore rename {selfdrive => system}/sensord/SConscript (100%) rename {selfdrive => system}/sensord/__init__.py (100%) rename {selfdrive => system}/sensord/pigeond.py (100%) rename {selfdrive => system}/sensord/rawgps/compare.py (100%) rename {selfdrive => system}/sensord/rawgps/modemdiag.py (100%) rename {selfdrive => system}/sensord/rawgps/rawgpsd.py (98%) rename {selfdrive => system}/sensord/rawgps/structs.py (100%) rename {selfdrive => system}/sensord/rawgps/test_rawgps.py (100%) rename {selfdrive => system}/sensord/sensord (100%) rename {selfdrive => system}/sensord/sensors/bmx055_accel.cc (100%) rename {selfdrive => system}/sensord/sensors/bmx055_accel.h (96%) rename {selfdrive => system}/sensord/sensors/bmx055_gyro.cc (100%) rename {selfdrive => system}/sensord/sensors/bmx055_gyro.h (95%) rename {selfdrive => system}/sensord/sensors/bmx055_magn.cc (100%) rename {selfdrive => system}/sensord/sensors/bmx055_magn.h (97%) rename {selfdrive => system}/sensord/sensors/bmx055_temp.cc (94%) rename {selfdrive => system}/sensord/sensors/bmx055_temp.h (71%) rename {selfdrive => system}/sensord/sensors/constants.h (100%) rename {selfdrive => system}/sensord/sensors/file_sensor.cc (100%) rename {selfdrive => system}/sensord/sensors/file_sensor.h (88%) rename {selfdrive => system}/sensord/sensors/i2c_sensor.cc (100%) rename {selfdrive => system}/sensord/sensors/i2c_sensor.h (93%) rename {selfdrive => system}/sensord/sensors/light_sensor.cc (92%) rename {selfdrive => system}/sensord/sensors/light_sensor.h (100%) rename {selfdrive => system}/sensord/sensors/lsm6ds3_accel.cc (100%) rename {selfdrive => system}/sensord/sensors/lsm6ds3_accel.h (97%) rename {selfdrive => system}/sensord/sensors/lsm6ds3_gyro.cc (100%) rename {selfdrive => system}/sensord/sensors/lsm6ds3_gyro.h (96%) rename {selfdrive => system}/sensord/sensors/lsm6ds3_temp.cc (100%) rename {selfdrive => system}/sensord/sensors/lsm6ds3_temp.h (92%) rename {selfdrive => system}/sensord/sensors/mmc5603nj_magn.cc (100%) rename {selfdrive => system}/sensord/sensors/mmc5603nj_magn.h (94%) rename {selfdrive => system}/sensord/sensors/sensor.h (100%) rename {selfdrive => system}/sensord/sensors_qcom2.cc (90%) rename {selfdrive => system}/sensord/tests/__init__.py (100%) rename {selfdrive => system}/sensord/tests/test_pigeond.py (100%) rename {selfdrive => system}/sensord/tests/test_sensord.py (100%) rename {selfdrive => system}/sensord/tests/ttff_test.py (100%) 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/Jenkinsfile b/Jenkinsfile index 0450f33175..2067b9dac1 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -159,7 +159,7 @@ pipeline { ["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 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"], ]) @@ -193,11 +193,11 @@ 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/SConstruct b/SConstruct index 007931b7f5..27c811686c 100644 --- a/SConstruct +++ b/SConstruct @@ -427,7 +427,7 @@ SConscript(['selfdrive/boardd/SConscript']) SConscript(['selfdrive/loggerd/SConscript']) SConscript(['selfdrive/locationd/SConscript']) -SConscript(['selfdrive/sensord/SConscript']) +SConscript(['system/sensord/SConscript']) SConscript(['selfdrive/ui/SConscript']) SConscript(['selfdrive/navd/SConscript']) 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/release/files_common b/release/files_common index e0f989e9be..334e08a322 100644 --- a/release/files_common +++ b/release/files_common @@ -276,12 +276,13 @@ 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/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 diff --git a/release/files_tici b/release/files_tici index c8abd720d5..b4e0c50516 100644 --- a/release/files_tici +++ b/release/files_tici @@ -13,7 +13,7 @@ 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/locationd/locationd.h b/selfdrive/locationd/locationd.h index a292a3c936..b7e42a9df8 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" diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 8fc4d94e55..324063a68b 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -39,7 +39,7 @@ procs = [ 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"]), @@ -50,12 +50,12 @@ procs = [ PythonProcess("deleter", "selfdrive.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), 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), + 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), 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/selfdrive/sensord/__init__.py b/system/sensord/__init__.py similarity index 100% rename from selfdrive/sensord/__init__.py rename to system/sensord/__init__.py diff --git a/selfdrive/sensord/pigeond.py b/system/sensord/pigeond.py similarity index 100% rename from selfdrive/sensord/pigeond.py rename to system/sensord/pigeond.py 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 98% rename from selfdrive/sensord/rawgps/rawgpsd.py rename to system/sensord/rawgps/rawgpsd.py index 3fa5e927a2..f75ceee7ed 100755 --- a/selfdrive/sensord/rawgps/rawgpsd.py +++ b/system/sensord/rawgps/rawgpsd.py @@ -15,8 +15,8 @@ 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, 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/selfdrive/sensord/tests/__init__.py b/system/sensord/tests/__init__.py similarity index 100% rename from selfdrive/sensord/tests/__init__.py rename to system/sensord/tests/__init__.py 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 100% rename from selfdrive/sensord/tests/test_sensord.py rename to system/sensord/tests/test_sensord.py 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/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 410a9c70d3..24ffa6c424 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 From 94eb2159802d3dba99620db0b08731c68a7e4733 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 8 Mar 2023 11:20:49 -0800 Subject: [PATCH 12/43] loggerd: move to system/ (#27534) --- .github/workflows/selfdrive_tests.yaml | 4 +- Jenkinsfile | 4 +- SConstruct | 2 +- docs/overview.rst | 2 +- release/files_common | 44 +++++++++---------- selfdrive/athena/athenad.py | 4 +- selfdrive/manager/manager.py | 2 +- selfdrive/manager/process_config.py | 8 ++-- selfdrive/statsd.py | 2 +- selfdrive/test/test_onroad.py | 2 +- selfdrive/thermald/thermald.py | 2 +- selfdrive/tombstoned.py | 2 +- {selfdrive => system}/loggerd/.gitignore | 0 {selfdrive => system}/loggerd/README.md | 0 {selfdrive => system}/loggerd/SConscript | 0 {selfdrive => system}/loggerd/__init__.py | 0 {selfdrive => system}/loggerd/bootlog.cc | 2 +- {selfdrive => system}/loggerd/config.py | 0 {selfdrive => system}/loggerd/deleter.py | 4 +- .../loggerd/encoder/encoder.cc | 2 +- .../loggerd/encoder/encoder.h | 2 +- .../loggerd/encoder/ffmpeg_encoder.cc | 2 +- .../loggerd/encoder/ffmpeg_encoder.h | 4 +- .../loggerd/encoder/v4l_encoder.cc | 2 +- .../loggerd/encoder/v4l_encoder.h | 2 +- {selfdrive => system}/loggerd/encoderd.cc | 2 +- {selfdrive => system}/loggerd/logger.cc | 2 +- {selfdrive => system}/loggerd/logger.h | 0 {selfdrive => system}/loggerd/loggerd.cc | 4 +- {selfdrive => system}/loggerd/loggerd.h | 8 ++-- .../loggerd/tests/__init__.py | 0 .../loggerd/tests/fill_eon.py | 4 +- .../loggerd/tests/loggerd_tests_common.py | 2 +- .../loggerd/tests/test_deleter.py | 4 +- .../loggerd/tests/test_encoder.py | 2 +- .../loggerd/tests/test_logger.cc | 2 +- .../loggerd/tests/test_loggerd.py | 4 +- .../loggerd/tests/test_runner.cc | 0 .../loggerd/tests/test_uploader.py | 4 +- .../loggerd/tools/mark_all_uploaded.py | 4 +- .../loggerd/tools/mark_unuploaded.py | 2 +- {selfdrive => system}/loggerd/uploader.py | 4 +- {selfdrive => system}/loggerd/video_writer.cc | 2 +- {selfdrive => system}/loggerd/video_writer.h | 0 {selfdrive => system}/loggerd/xattr_cache.py | 0 tools/lib/README.md | 2 +- 46 files changed, 75 insertions(+), 75 deletions(-) rename {selfdrive => system}/loggerd/.gitignore (100%) rename {selfdrive => system}/loggerd/README.md (100%) rename {selfdrive => system}/loggerd/SConscript (100%) rename {selfdrive => system}/loggerd/__init__.py (100%) rename {selfdrive => system}/loggerd/bootlog.cc (97%) rename {selfdrive => system}/loggerd/config.py (100%) rename {selfdrive => system}/loggerd/deleter.py (89%) rename {selfdrive => system}/loggerd/encoder/encoder.cc (98%) rename {selfdrive => system}/loggerd/encoder/encoder.h (97%) rename {selfdrive => system}/loggerd/encoder/ffmpeg_encoder.cc (98%) rename {selfdrive => system}/loggerd/encoder/ffmpeg_encoder.h (92%) rename {selfdrive => system}/loggerd/encoder/v4l_encoder.cc (99%) rename {selfdrive => system}/loggerd/encoder/v4l_encoder.h (95%) rename {selfdrive => system}/loggerd/encoderd.cc (99%) rename {selfdrive => system}/loggerd/logger.cc (99%) rename {selfdrive => system}/loggerd/logger.h (100%) rename {selfdrive => system}/loggerd/loggerd.cc (99%) rename {selfdrive => system}/loggerd/loggerd.h (92%) rename {selfdrive => system}/loggerd/tests/__init__.py (100%) rename {selfdrive => system}/loggerd/tests/fill_eon.py (79%) rename {selfdrive => system}/loggerd/tests/loggerd_tests_common.py (98%) rename {selfdrive => system}/loggerd/tests/test_deleter.py (96%) rename {selfdrive => system}/loggerd/tests/test_encoder.py (99%) rename {selfdrive => system}/loggerd/tests/test_logger.cc (99%) rename {selfdrive => system}/loggerd/tests/test_loggerd.py (99%) rename {selfdrive => system}/loggerd/tests/test_runner.cc (100%) rename {selfdrive => system}/loggerd/tests/test_uploader.py (97%) rename {selfdrive => system}/loggerd/tools/mark_all_uploaded.py (60%) rename {selfdrive => system}/loggerd/tools/mark_unuploaded.py (70%) rename {selfdrive => system}/loggerd/uploader.py (98%) rename {selfdrive => system}/loggerd/video_writer.cc (98%) rename {selfdrive => system}/loggerd/video_writer.h (100%) rename {selfdrive => system}/loggerd/xattr_cache.py (100%) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index efddde720d..fb85a0fbb6 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -204,7 +204,7 @@ 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 && \ selfdrive/locationd/test/_test_locationd_lib.py && \ @@ -219,7 +219,7 @@ 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 && \ diff --git a/Jenkinsfile b/Jenkinsfile index 2067b9dac1..4e80b5fa3c 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -157,8 +157,8 @@ pipeline { 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 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"], diff --git a/SConstruct b/SConstruct index 27c811686c..ba2b377e68 100644 --- a/SConstruct +++ b/SConstruct @@ -424,7 +424,7 @@ SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript']) SConscript(['selfdrive/boardd/SConscript']) -SConscript(['selfdrive/loggerd/SConscript']) +SConscript(['system/loggerd/SConscript']) SConscript(['selfdrive/locationd/SConscript']) SConscript(['system/sensord/SConscript']) 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/release/files_common b/release/files_common index 334e08a322..42edaa9b12 100644 --- a/release/files_common +++ b/release/files_common @@ -253,28 +253,28 @@ 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 +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 diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index d1cc4cea83..7cb6d5b845 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 diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 963d94066b..1128097251 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -29,7 +29,7 @@ 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) diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 324063a68b..7b2b38af3a 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -34,8 +34,8 @@ 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), @@ -47,7 +47,7 @@ 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", "system.sensord.rawgps.rawgpsd", enabled=TICI), @@ -61,7 +61,7 @@ procs = [ 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/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/test_onroad.py b/selfdrive/test/test_onroad.py index 84511771f7..07a3c61bc5 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -15,7 +15,7 @@ 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 diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index eedeff31f1..531e0b04d1 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 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/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/loggerd/__init__.py b/system/loggerd/__init__.py similarity index 100% rename from selfdrive/loggerd/__init__.py rename to system/loggerd/__init__.py diff --git a/selfdrive/loggerd/bootlog.cc b/system/loggerd/bootlog.cc similarity index 97% rename from selfdrive/loggerd/bootlog.cc rename to system/loggerd/bootlog.cc index e882e4cf8d..4deb5b41f3 100644 --- a/selfdrive/loggerd/bootlog.cc +++ b/system/loggerd/bootlog.cc @@ -3,7 +3,7 @@ #include "cereal/messaging/messaging.h" #include "common/swaglog.h" -#include "selfdrive/loggerd/logger.h" +#include "system/loggerd/logger.h" static kj::Array build_boot_log() { 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 99% rename from selfdrive/loggerd/logger.cc rename to system/loggerd/logger.cc index aaf267e523..0599aa1e54 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 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/selfdrive/loggerd/tests/__init__.py b/system/loggerd/tests/__init__.py similarity index 100% rename from selfdrive/loggerd/tests/__init__.py rename to system/loggerd/tests/__init__.py 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 98% rename from selfdrive/loggerd/tests/loggerd_tests_common.py rename to system/loggerd/tests/loggerd_tests_common.py index 80cfb162f1..6aca83858b 100644 --- a/selfdrive/loggerd/tests/loggerd_tests_common.py +++ b/system/loggerd/tests/loggerd_tests_common.py @@ -5,7 +5,7 @@ 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): try: 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 99% rename from selfdrive/loggerd/tests/test_loggerd.py rename to system/loggerd/tests/test_loggerd.py index 857dc5c4e9..54098d13d0 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) 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 97% rename from selfdrive/loggerd/tests/test_uploader.py rename to system/loggerd/tests/test_uploader.py index 6090bbe2aa..11b273cec8 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 +import system.loggerd.uploader as uploader -from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase +from system.loggerd.tests.loggerd_tests_common import UploaderTestCase class TestLogHandler(logging.Handler): 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 98% rename from selfdrive/loggerd/uploader.py rename to system/loggerd/uploader.py index f97bafecb9..d4ed6dca28 100644 --- a/selfdrive/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -16,8 +16,8 @@ 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 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/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 From 3ff8fc110cbd29f304ed364f4f619afcdf0a729e Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Wed, 8 Mar 2023 16:06:17 -0500 Subject: [PATCH 13/43] =?UTF-8?q?VW=20MQB:=20Add=20FW=20for=202017=20?= =?UTF-8?q?=C5=A0koda=20Kodiaq=20(#27532)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * VW MQB: Add FW for 2017 Škoda Kodiaq * retry CI --- docs/CARS.md | 2 +- selfdrive/car/volkswagen/values.py | 6 +++++- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 426db94f89..070d068cab 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -164,7 +164,7 @@ A supported vehicle is one that just works when you install a comma three. All s |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)](##)|J533[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)](##)|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|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)](##)|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)|| diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index c5868e16f3..8e12923983 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -243,7 +243,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { 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: [ @@ -1071,17 +1071,20 @@ 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\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', ], (Ecu.srs, 0x715, None): [ + 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', @@ -1096,6 +1099,7 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572Q \xf1\x890342', b'\xf1\x872Q0907572R \xf1\x890372', + b'\xf1\x872Q0907572T \xf1\x890383', b'\xf1\x872Q0907572AA\xf1\x890396', ], }, From 231e9a950dc32b322602815a25486fdc50ec2091 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 8 Mar 2023 13:07:33 -0800 Subject: [PATCH 14/43] Pigeond: Request sat info msgs (#27529) request sat info msgs --- selfdrive/locationd/test/ublox.py | 1 + selfdrive/locationd/test/ubloxd.py | 1 + selfdrive/locationd/ublox_msg.cc | 3 +++ system/sensord/pigeond.py | 1 + 4 files changed, 6 insertions(+) diff --git a/selfdrive/locationd/test/ublox.py b/selfdrive/locationd/test/ublox.py index 9cffbeac40..80abc64e2c 100644 --- a/selfdrive/locationd/test/ublox.py +++ b/selfdrive/locationd/test/ublox.py @@ -54,6 +54,7 @@ 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/selfdrive/locationd/test/ubloxd.py index 82aa502ceb..7c7e68b23b 100755 --- a/selfdrive/locationd/test/ubloxd.py +++ b/selfdrive/locationd/test/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/selfdrive/locationd/ublox_msg.cc index 77ca9099ed..ebd904f72f 100644 --- a/selfdrive/locationd/ublox_msg.cc +++ b/selfdrive/locationd/ublox_msg.cc @@ -126,6 +126,9 @@ 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: + // TODO return {"ubloxGnss", gen_nav_sat(static_cast(body))}; + return {"ubloxGnss", kj::Array()}; default: LOGE("Unknown message type %x", ubx_message.msg_type()); return {"ubloxGnss", kj::Array()}; diff --git a/system/sensord/pigeond.py b/system/sensord/pigeond.py index 9d0a62bd3b..c9ad7ff22a 100755 --- a/system/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 From c97911dbad15c3cc7dc577b305ab9aed775e021f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 8 Mar 2023 16:11:18 -0800 Subject: [PATCH 15/43] ubloxd: move to system/ (#27536) * ubloxd: move to system/ * more fixes * add missing sconscript * fix valgrind tests * uncomment --- .github/workflows/selfdrive_tests.yaml | 3 ++- SConstruct | 1 + release/files_common | 13 ++++++------ selfdrive/locationd/.gitignore | 3 --- selfdrive/locationd/SConscript | 21 ++----------------- selfdrive/manager/process_config.py | 2 +- selfdrive/test/test_valgrind_replay.py | 2 +- system/ubloxd/.gitignore | 2 ++ system/ubloxd/SConscript | 20 ++++++++++++++++++ .../ubloxd}/generated/glonass.cpp | 0 .../ubloxd}/generated/glonass.h | 0 .../ubloxd}/generated/gps.cpp | 0 .../ubloxd}/generated/gps.h | 0 .../ubloxd}/generated/ubx.cpp | 0 .../ubloxd}/generated/ubx.h | 0 .../locationd => system/ubloxd}/glonass.ksy | 0 .../ubloxd}/glonass_fix.patch | 6 +++--- .../locationd => system/ubloxd}/gps.ksy | 0 .../ubloxd/tests}/print_gps_stats.py | 0 .../ubloxd/tests}/test_glonass_kaitai.cc | 2 +- .../ubloxd/tests}/test_glonass_runner.cc | 0 .../ubloxd/tests}/test_ublox_processing.py | 0 .../test => system/ubloxd/tests}/ublox.py | 0 .../test => system/ubloxd/tests}/ubloxd.py | 0 .../locationd => system/ubloxd}/ublox_msg.cc | 0 .../locationd => system/ubloxd}/ublox_msg.h | 6 +++--- .../locationd => system/ubloxd}/ubloxd.cc | 2 +- .../locationd => system/ubloxd}/ubx.ksy | 0 28 files changed, 44 insertions(+), 39 deletions(-) create mode 100644 system/ubloxd/.gitignore create mode 100644 system/ubloxd/SConscript rename {selfdrive/locationd => system/ubloxd}/generated/glonass.cpp (100%) rename {selfdrive/locationd => system/ubloxd}/generated/glonass.h (100%) rename {selfdrive/locationd => system/ubloxd}/generated/gps.cpp (100%) rename {selfdrive/locationd => system/ubloxd}/generated/gps.h (100%) rename {selfdrive/locationd => system/ubloxd}/generated/ubx.cpp (100%) rename {selfdrive/locationd => system/ubloxd}/generated/ubx.h (100%) rename {selfdrive/locationd => system/ubloxd}/glonass.ksy (100%) rename {selfdrive/locationd => system/ubloxd}/glonass_fix.patch (68%) rename {selfdrive/locationd => system/ubloxd}/gps.ksy (100%) rename {selfdrive/locationd/test => system/ubloxd/tests}/print_gps_stats.py (100%) rename {selfdrive/locationd/test => system/ubloxd/tests}/test_glonass_kaitai.cc (99%) rename {selfdrive/locationd/test => system/ubloxd/tests}/test_glonass_runner.cc (100%) rename {selfdrive/locationd/test => system/ubloxd/tests}/test_ublox_processing.py (100%) rename {selfdrive/locationd/test => system/ubloxd/tests}/ublox.py (100%) rename {selfdrive/locationd/test => system/ubloxd/tests}/ubloxd.py (100%) rename {selfdrive/locationd => system/ubloxd}/ublox_msg.cc (100%) rename {selfdrive/locationd => system/ubloxd}/ublox_msg.h (96%) rename {selfdrive/locationd => system/ubloxd}/ubloxd.cc (97%) rename {selfdrive/locationd => system/ubloxd}/ubx.ksy (100%) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index fb85a0fbb6..5873e7aee6 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -207,8 +207,9 @@ jobs: $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 && \ diff --git a/SConstruct b/SConstruct index ba2b377e68..387d2e76f4 100644 --- a/SConstruct +++ b/SConstruct @@ -398,6 +398,7 @@ SConscript([ 'system/camerad/SConscript', 'system/clocksd/SConscript', 'system/proclogd/SConscript', + 'system/ubloxd/SConscript', ]) if arch != "Darwin": SConscript(['system/logcatd/SConscript']) diff --git a/release/files_common b/release/files_common index 42edaa9b12..a20f71018b 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 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/manager/process_config.py b/selfdrive/manager/process_config.py index 7b2b38af3a..2bacd951a7 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -54,7 +54,7 @@ procs = [ 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), + 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"), 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/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 100% rename from selfdrive/locationd/generated/ubx.cpp rename to system/ubloxd/generated/ubx.cpp diff --git a/selfdrive/locationd/generated/ubx.h b/system/ubloxd/generated/ubx.h similarity index 100% rename from selfdrive/locationd/generated/ubx.h rename to system/ubloxd/generated/ubx.h 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 100% rename from selfdrive/locationd/test/ublox.py rename to system/ubloxd/tests/ublox.py diff --git a/selfdrive/locationd/test/ubloxd.py b/system/ubloxd/tests/ubloxd.py similarity index 100% rename from selfdrive/locationd/test/ubloxd.py rename to system/ubloxd/tests/ubloxd.py diff --git a/selfdrive/locationd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc similarity index 100% rename from selfdrive/locationd/ublox_msg.cc rename to system/ubloxd/ublox_msg.cc diff --git a/selfdrive/locationd/ublox_msg.h b/system/ubloxd/ublox_msg.h similarity index 96% rename from selfdrive/locationd/ublox_msg.h rename to system/ubloxd/ublox_msg.h index 6988f20b74..3989bbf85b 100644 --- a/selfdrive/locationd/ublox_msg.h +++ b/system/ubloxd/ublox_msg.h @@ -9,9 +9,9 @@ #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; diff --git a/selfdrive/locationd/ubloxd.cc b/system/ubloxd/ubloxd.cc similarity index 97% rename from selfdrive/locationd/ubloxd.cc rename to system/ubloxd/ubloxd.cc index d9b3e7647d..81731ac931 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; diff --git a/selfdrive/locationd/ubx.ksy b/system/ubloxd/ubx.ksy similarity index 100% rename from selfdrive/locationd/ubx.ksy rename to system/ubloxd/ubx.ksy From 75eaca3cf360614dcc86a7028921bbf022e30fa9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Thu, 9 Mar 2023 11:12:42 -0800 Subject: [PATCH 16/43] Update amplifier config (#27443) * update tizi amplifier * Update attenuation --- system/hardware/tici/amplifier.py | 25 +++++++++++-------------- 1 file changed, 11 insertions(+), 14 deletions(-) diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py index 8233834d11..840d575fdf 100644 --- a/system/hardware/tici/amplifier.py +++ b/system/hardware/tici/amplifier.py @@ -24,13 +24,10 @@ 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 +38,6 @@ 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 +60,11 @@ 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 +73,13 @@ 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 +94,6 @@ 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)), ], } From 9b28897f09112ec1dc28d7196964588989029940 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 10 Mar 2023 05:13:29 +0800 Subject: [PATCH 17/43] replay: fix incorrect format string in seekTo (#27547) --- tools/replay/replay.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 178b116a87..b68330f688 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -193,7 +193,7 @@ 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; }); From b5d29b550c4b900d5e5e9dd9322a478e12ec9013 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 10 Mar 2023 05:13:46 +0800 Subject: [PATCH 18/43] cabana: get icon size from QStyle::PM_SmallIconSize (#27548) --- tools/cabana/util.cc | 2 ++ 1 file changed, 2 insertions(+) diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index 1a0b9d93ef..778ffbc859 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -170,6 +170,8 @@ QToolButton *toolButton(const QString &icon, const QString &tooltip) { btn->setIcon(utils::icon(icon)); btn->setToolTip(tooltip); btn->setAutoRaise(true); + const int metric = qApp->style()->pixelMetric(QStyle::PM_SmallIconSize); + btn->setIconSize({metric, metric}); return btn; }; From b79f4594c42b4af0fc371b5d48445ce86c1cb3ff Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 9 Mar 2023 22:14:06 +0100 Subject: [PATCH 19/43] cabana: scrub by shift dragging on graph (#27545) * cabana: scrub by shift dragging on graph * not while live streaming --- tools/cabana/chartswidget.cc | 26 ++++++++++++++++++++++++++ tools/cabana/chartswidget.h | 2 ++ 2 files changed, 28 insertions(+) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 54966be578..8ef2ae7b4f 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -668,6 +668,16 @@ void ChartView::mousePressEvent(QMouseEvent *event) { if (dropAction == Qt::MoveAction) { return; } + } else if (event->button() == Qt::LeftButton && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) { + if (!can->liveStreaming()) { + // 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); } @@ -701,9 +711,25 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { } 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) { + // Scrubbing + if (is_scrubbing && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) { + double t = chart()->mapToValue({(double)ev->x(), (double)ev->y()}).x(); + // Prevent seeking past the end of the route + t = std::clamp(t, 0., can->totalSeconds()); + can->seekTo(t); + return; + } + auto rubber = findChild(); bool is_zooming = rubber && rubber->isVisible(); const auto plot_area = chart()->plotArea(); diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index c86c19a04e..22ba020b29 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -97,6 +97,8 @@ private: double cur_sec = 0; const QString mime_type = "application/x-cabanachartview"; SeriesType series_type = SeriesType::Line; + bool is_scrubbing = false; + bool resume_after_scrub = false; friend class ChartsWidget; }; From 5b3a72267c628785859e673eaecc2787e02f1220 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 9 Mar 2023 22:14:21 +0100 Subject: [PATCH 20/43] cabana: fix changing message size (#27544) * cabana: fix changing message size * fix naming signal untitled --- tools/cabana/detailwidget.cc | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 01fbccf7db..71dbf8d56b 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -194,7 +194,7 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit form_layout->addRow(tr("Size"), size_spin); 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); @@ -204,9 +204,9 @@ 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) { + if (!text.isEmpty() && valid && text != original_name) { valid = std::none_of(dbc()->messages().begin(), dbc()->messages().end(), [&text](auto &m) { return m.second.name == text; }); if (!valid) { From 572eba78a675836e036456afc6e1bb2f14e9a3d6 Mon Sep 17 00:00:00 2001 From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Date: Thu, 9 Mar 2023 22:17:22 -0300 Subject: [PATCH 21/43] Multilanguage: update pt-BR translations (#27546) update pt-BR translations --- selfdrive/ui/translations/main_pt-BR.ts | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 5c4eab3327..8dc3a9830d 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -596,16 +596,17 @@ trabalho definido 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. @@ -707,11 +708,11 @@ This may take up to a minute. 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. From 7d32554fe36dd428efa45f9998b3cb0e018d9a40 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Thu, 9 Mar 2023 18:48:32 -0800 Subject: [PATCH 22/43] Parse GLONASS ephemeris from mystery satellites (#27541) parse unknown glonass --- system/ubloxd/ublox_msg.cc | 62 ++++++++++++++++++++++++++------------ system/ubloxd/ublox_msg.h | 6 ++-- system/ubloxd/ubloxd.cc | 3 +- 3 files changed, 48 insertions(+), 23 deletions(-) diff --git a/system/ubloxd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc index ebd904f72f..83e64b7ddc 100644 --- a/system/ubloxd/ublox_msg.cc +++ b/system/ubloxd/ublox_msg.cc @@ -81,7 +81,8 @@ inline uint16_t UbloxMsgParser::get_glonass_year(uint8_t N4, uint16_t Nt) { 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 ); @@ -266,12 +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); { @@ -284,23 +281,48 @@ 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 < 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(); } @@ -311,7 +333,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ // 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()); @@ -324,7 +346,7 @@ 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()); @@ -338,7 +360,7 @@ 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()); @@ -352,7 +374,7 @@ 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()); @@ -370,7 +392,7 @@ 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()); @@ -399,7 +421,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ eph.setSecond((eph.getTk() & 0x1) * 30); } - glonass_strings[msg->sv_id()].clear(); + glonass_strings[msg->freq_id()].clear(); return capnp::messageToFlatArray(msg_builder); } diff --git a/system/ubloxd/ublox_msg.h b/system/ubloxd/ublox_msg.h index 3989bbf85b..06877cc50d 100644 --- a/system/ubloxd/ublox_msg.h +++ b/system/ubloxd/ublox_msg.h @@ -86,7 +86,7 @@ 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);} @@ -109,6 +109,7 @@ class UbloxMsgParser { 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 +120,6 @@ 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/system/ubloxd/ubloxd.cc b/system/ubloxd/ubloxd.cc index 81731ac931..1dae6dc866 100644 --- a/system/ubloxd/ubloxd.cc +++ b/system/ubloxd/ubloxd.cc @@ -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(); From e4d591ecbfaaf12b267e3f93927a89e9b4f6a7b9 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 10 Mar 2023 20:19:37 +0100 Subject: [PATCH 23/43] cabana: refactor Msg and Signal into dbc.cc (#27552) --- tools/cabana/SConscript | 2 +- tools/cabana/binaryview.cc | 16 +-- tools/cabana/binaryview.h | 23 ++-- tools/cabana/chartswidget.cc | 14 +-- tools/cabana/chartswidget.h | 31 +++-- tools/cabana/commands.cc | 6 +- tools/cabana/commands.h | 17 ++- tools/cabana/dbc.cc | 77 ++++++++++++ tools/cabana/dbc.h | 78 ++++++++++++ tools/cabana/dbcmanager.cc | 168 +++++++------------------- tools/cabana/dbcmanager.h | 90 ++------------ tools/cabana/detailwidget.cc | 2 +- tools/cabana/historylog.h | 4 +- tools/cabana/mainwin.cc | 2 +- tools/cabana/messageswidget.h | 1 - tools/cabana/signaledit.cc | 28 ++--- tools/cabana/signaledit.h | 26 ++-- tools/cabana/tests/test_cabana.cc | 1 - tools/cabana/tools/findsimilarbits.cc | 1 - tools/cabana/tools/findsimilarbits.h | 1 - tools/cabana/util.cc | 2 +- tools/cabana/util.h | 5 +- tools/cabana/videowidget.h | 1 - 23 files changed, 295 insertions(+), 301 deletions(-) create mode 100644 tools/cabana/dbc.cc create mode 100644 tools/cabana/dbc.h diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index ddd6208c07..3cb5913c01 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -28,7 +28,7 @@ cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "asset prev_moc_path = cabana_env['QT_MOCHPREFIX'] cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_' -cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', +cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbc.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, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 120a85a330..b81f7d5e79 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -75,8 +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); @@ -89,8 +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); @@ -117,7 +117,7 @@ QSize BinaryView::minimumSizeHint() const { 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; @@ -176,7 +176,7 @@ 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); } } @@ -226,8 +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; diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 681ac1fbf3..f677d11941 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -8,7 +8,6 @@ #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; class BinaryItemDelegate : public QStyledItemDelegate { public: @@ -44,7 +43,7 @@ public: bool is_msb = false; bool is_lsb = false; QString val = "-"; - QList sigs; + QList sigs; }; std::vector items; @@ -59,19 +58,19 @@ 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(); @@ -87,7 +86,7 @@ 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/chartswidget.cc b/tools/cabana/chartswidget.cc index 8ef2ae7b4f..5bab261ba7 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -189,7 +189,7 @@ void ChartsWidget::settingChanged() { } } -ChartView *ChartsWidget::findChart(const MessageId &id, const Signal *sig) { +ChartView *ChartsWidget::findChart(const MessageId &id, const cabana::Signal *sig) { for (auto c : charts) if (c->hasSeries(id, sig)) return c; return nullptr; @@ -212,7 +212,7 @@ ChartView *ChartsWidget::createChart() { return chart; } -void ChartsWidget::showChart(const MessageId &id, const Signal *sig, bool show, bool merge) { +void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge) { ChartView *chart = findChart(id, sig); if (show && !chart) { chart = merge && charts.size() > 0 ? charts.back() : createChart(); @@ -377,7 +377,7 @@ void ChartView::createToolButtons() { }); } -void ChartView::addSeries(const MessageId &msg_id, const Signal *sig) { +void ChartView::addSeries(const MessageId &msg_id, const cabana::Signal *sig) { if (hasSeries(msg_id, sig)) return; QXYSeries *series = createSeries(series_type, getColor(sig)); @@ -388,7 +388,7 @@ void ChartView::addSeries(const MessageId &msg_id, const Signal *sig) { emit seriesAdded(msg_id, sig); } -bool ChartView::hasSeries(const MessageId &msg_id, const Signal *sig) const { +bool ChartView::hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const { return std::any_of(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; }); } @@ -413,7 +413,7 @@ void ChartView::removeIf(std::function predicate) { } } -void ChartView::signalUpdated(const Signal *sig) { +void ChartView::signalUpdated(const cabana::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. @@ -502,7 +502,7 @@ void ChartView::updateSeriesPoints() { } } -void ChartView::updateSeries(const Signal *sig, const std::vector *events, bool clear) { +void ChartView::updateSeries(const cabana::Signal *sig, const std::vector *events, bool clear) { events = events ? events : can->events(); for (auto &s : sigs) { if (!sig || s.sig == sig) { @@ -980,7 +980,7 @@ void SeriesSelector::updateAvailableList(int index) { } } -void SeriesSelector::addItemToList(QListWidget *parent, const MessageId id, const Signal *sig, bool show_msg_name) { +void SeriesSelector::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()); diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 22ba020b29..fdfbbc11ff 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -15,7 +15,6 @@ #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; using namespace QtCharts; const int CHART_MIN_WIDTH = 300; @@ -31,16 +30,16 @@ class ChartView : public QChartView { 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 addSeries(const MessageId &msg_id, const cabana::Signal *sig); + bool hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const; + void updateSeries(const cabana::Signal *sig = nullptr, const std::vector *events = nullptr, bool clear = true); void updatePlot(double cur, double min, double max); void setSeriesType(SeriesType type); void updatePlotArea(int left); struct SigItem { MessageId msg_id; - const Signal *sig = nullptr; + const cabana::Signal *sig = nullptr; QXYSeries *series = nullptr; QVector vals; QVector step_vals; @@ -50,8 +49,8 @@ public: }; signals: - void seriesRemoved(const MessageId &id, const Signal *sig); - void seriesAdded(const MessageId &id, const Signal *sig); + void seriesRemoved(const MessageId &id, const cabana::Signal *sig); + void seriesAdded(const MessageId &id, const cabana::Signal *sig); void zoomIn(double min, double max); void zoomReset(); void remove(); @@ -59,11 +58,11 @@ signals: private slots: void msgUpdated(uint32_t address); - void signalUpdated(const Signal *sig); + void signalUpdated(const cabana::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; }); } + void signalRemoved(const cabana::Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); } private: void createToolButtons(); @@ -107,8 +106,8 @@ class ChartsWidget : public QFrame { 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; } + 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); @@ -134,7 +133,7 @@ private: void updateLayout(); void settingChanged(); bool eventFilter(QObject *obj, QEvent *event) override; - ChartView *findChart(const MessageId &id, const Signal *sig); + ChartView *findChart(const MessageId &id, const cabana::Signal *sig); QLabel *title_label; QLabel *range_lb; @@ -160,18 +159,18 @@ private: 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) {} + ListItem(const MessageId &msg_id, const cabana::Signal *sig, QListWidget *parent) : msg_id(msg_id), sig(sig), QListWidgetItem(parent) {} MessageId msg_id; - const Signal *sig; + const cabana::Signal *sig; }; SeriesSelector(QString title, QWidget *parent); QList seletedItems(); - inline void addSelected(const MessageId &id, const Signal *sig) { addItemToList(selected_list, id, sig, true); } + 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 Signal *sig, bool show_msg_name = false); + void addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name = false); void add(QListWidgetItem *item); void remove(QListWidgetItem *item); diff --git a/tools/cabana/commands.cc b/tools/cabana/commands.cc index 9b9724aada..337de1c702 100644 --- a/tools/cabana/commands.cc +++ b/tools/cabana/commands.cc @@ -50,7 +50,7 @@ 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:%3").arg(sig.name).arg(msgName(id)).arg(id.address)); } @@ -60,7 +60,7 @@ 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:%3").arg(signal.name).arg(msgName(id)).arg(id.address)); } @@ -70,7 +70,7 @@ 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 in %2:%3").arg(old_signal.name).arg(msgName(id)).arg(id.address)); } diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h index 3565211eb9..2a5f40d584 100644 --- a/tools/cabana/commands.h +++ b/tools/cabana/commands.h @@ -5,7 +5,6 @@ #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; class EditMsgCommand : public QUndoCommand { public: @@ -27,41 +26,41 @@ public: private: const MessageId id; - Msg 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.cc b/tools/cabana/dbc.cc new file mode 100644 index 0000000000..8ffb660286 --- /dev/null +++ b/tools/cabana/dbc.cc @@ -0,0 +1,77 @@ +#include "tools/cabana/dbc.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; +} + +// 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(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}; +} + +std::vector allDBCNames() { return get_dbc_names(); } diff --git a/tools/cabana/dbc.h b/tools/cabana/dbc.h new file mode 100644 index 0000000000..3c58e38055 --- /dev/null +++ b/tools/cabana/dbc.h @@ -0,0 +1,78 @@ +#pragma once + +#include +#include +#include +#include +#include + +#include "opendbc/can/common_dbc.h" + +const QString UNTITLED = "untitled"; + +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}; + } +}; + +uint qHash(const MessageId &item); +Q_DECLARE_METATYPE(MessageId); + + +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; + QString min, max, unit; + QString comment; + ValueDescription val_desc; + }; + + struct Msg { + QString name; + uint32_t size; + QList sigs; + + 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(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); +std::vector allDBCNames(); diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index 32113c2f22..e9ebcd2791 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -8,8 +8,6 @@ #include #include -namespace dbcmanager { - bool DBCManager::open(const QString &dbc_file_name, QString *error) { QString opendbc_file_path = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, dbc_file_name); QFile file(opendbc_file_path); @@ -19,15 +17,49 @@ bool DBCManager::open(const QString &dbc_file_name, QString *error) { return false; } +bool DBCManager::open(const QString &name, const QString &content, QString *error) { + try { + 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.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; + } + } + parseExtraInfo(content); + name_ = name; + emit DBCFileChanged(); + delete dbc; + } catch (std::exception &e) { + if (error) *error = e.what(); + return false; + } + return true; +} + void DBCManager::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 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) -> Signal * { - auto m = (Msg *)msg(address); - return m ? (Signal *)m->sig(name) : nullptr; + 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); @@ -119,17 +151,17 @@ void DBCManager::removeMsg(const MessageId &id) { emit msgRemoved(id.address); } -void DBCManager::addSignal(const MessageId &id, const Signal &sig) { - if (auto m = const_cast(msg(id.address))) { +void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) { + if (auto m = const_cast(msg(id.address))) { m->sigs.push_back(sig); auto s = &m->sigs.last(); 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))) { - if (auto s = (Signal *)m->sig(sig_name)) { +void DBCManager::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; emit signalUpdated(s); } @@ -137,7 +169,7 @@ void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, cons } void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) { - if (auto m = const_cast(msg(id))) { + 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()) { emit signalRemoved(&(*it)); @@ -151,117 +183,3 @@ DBCManager *dbc() { return &dbc_manager; } -// Msg - -std::vector 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; -} - -// 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; - } - return val * sig.factor + sig.offset; -} - -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 && - l.min == r.min && l.max == r.max && l.comment == r.comment && l.unit == r.unit && l.val_desc == r.val_desc; -} - -} // namespace dbcmanager - -#include "opendbc/can/common_dbc.h" -std::vector dbcmanager::DBCManager::allDBCNames() { return get_dbc_names(); } - -bool dbcmanager::DBCManager::open(const QString &name, const QString &content, QString *error) { - try { - 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.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; - } - } - parseExtraInfo(content); - name_ = name; - emit DBCFileChanged(); - delete dbc; - } catch (std::exception &e) { - if (error) *error = e.what(); - return false; - } - return true; -} - -uint qHash(const MessageId &item) { - return qHash(item.source) ^ qHash(item.address); -} diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index d877347796..3b222b1dcb 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -6,63 +6,7 @@ #include #include -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}; - } -}; - -uint qHash(const MessageId &item); -Q_DECLARE_METATYPE(MessageId); - -namespace dbcmanager { - -typedef QList> ValueDescription; - -struct Signal { - QString name; - int start_bit, msb, lsb, size; - bool is_signed; - double factor, offset; - bool is_little_endian; - QString min, max, unit; - QString comment; - ValueDescription val_desc; -}; - -struct Msg { - QString name; - uint32_t size; - - std::vector getSignals() const; - const 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; - } - -private: - QList sigs; - friend class DBCManager; -}; +#include "tools/cabana/dbc.h" class DBCManager : public QObject { Q_OBJECT @@ -73,49 +17,37 @@ public: bool open(const QString &dbc_file_name, QString *error = nullptr); 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 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); - static std::vector allDBCNames(); inline QString name() const { return name_; } 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 Msg *msg(const MessageId &id) const { return msg(id.address); } - inline const Msg *msg(uint32_t address) const { + inline const std::map &messages() const { return msgs; } + inline const cabana::Msg *msg(const MessageId &id) const { return msg(id.address); } + inline const cabana::Msg *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 signalAdded(uint32_t address, const cabana::Signal *sig); + void signalRemoved(const cabana::Signal *sig); + void signalUpdated(const cabana::Signal *sig); void msgUpdated(uint32_t address); void msgRemoved(uint32_t address); void DBCFileChanged(); private: void parseExtraInfo(const QString &content); - std::map msgs; + std::map msgs; QString name_; }; -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; } - -} // namespace dbcmanager diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 71dbf8d56b..05a0528d0e 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -68,7 +68,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart 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, [this](const Signal *s) { signal_view->selectSignal(s, true); }); + 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); diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index 206d53bc8d..119b61a0e8 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -11,8 +11,6 @@ #include "tools/cabana/streams/abstractstream.h" #include "tools/cabana/util.h" -using namespace dbcmanager; - class HeaderView : public QHeaderView { public: HeaderView(Qt::Orientation orientation, QWidget *parent = nullptr) : QHeaderView(orientation, parent) {} @@ -64,7 +62,7 @@ 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; }; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index abcb4948a9..17b720bd55 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -97,7 +97,7 @@ 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); diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index ed9e241b0c..08dac0d69a 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -8,7 +8,6 @@ #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; class MessageListModel : public QAbstractTableModel { Q_OBJECT diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 5684edf95a..8c28d92437 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -22,7 +22,7 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalModel::updateState); } -void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const Signal *sig) { +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"}; @@ -104,7 +104,7 @@ Qt::ItemFlags SignalModel::flags(const QModelIndex &index) const { return flags; } -int SignalModel::signalRow(const Signal *sig) const { +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; } @@ -168,7 +168,7 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r if (role != Qt::EditRole && role != Qt::CheckStateRole) return false; Item *item = getItem(index); - Signal s = *item->sig; + cabana::Signal s = *item->sig; switch (item->type) { case Item::Name: s.name = value.toString(); break; case Item::Size: s.size = value.toInt(); break; @@ -203,7 +203,7 @@ void SignalModel::showExtraInfo(const QModelIndex &index) { } } -bool SignalModel::saveSignal(const Signal *origin_s, Signal &s) { +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); @@ -243,7 +243,7 @@ void SignalModel::addSignal(int start_bit, int size, bool little_endian) { } } - Signal sig = {.is_little_endian = little_endian, .factor = 1}; + cabana::Signal sig = {.is_little_endian = little_endian, .factor = 1}; for (int i = 1; /**/; ++i) { sig.name = QString("NEW_SIGNAL_%1").arg(i); if (msg->sig(sig.name) == nullptr) break; @@ -252,13 +252,13 @@ void SignalModel::addSignal(int start_bit, int size, bool little_endian) { UndoStack::push(new AddSigCommand(msg_id, sig)); } -void SignalModel::resizeSignal(const Signal *sig, int start_bit, int size) { - Signal s = *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 Signal *sig) { +void SignalModel::removeSignal(const cabana::Signal *sig) { UndoStack::push(new RemoveSigCommand(msg_id, sig)); } @@ -268,7 +268,7 @@ void SignalModel::handleMsgChanged(uint32_t address) { } } -void SignalModel::handleSignalAdded(uint32_t address, const Signal *sig) { +void SignalModel::handleSignalAdded(uint32_t address, const cabana::Signal *sig) { if (address == msg_id.address) { int i = 0; for (; i < root->children.size(); ++i) { @@ -280,13 +280,13 @@ void SignalModel::handleSignalAdded(uint32_t address, const Signal *sig) { } } -void SignalModel::handleSignalUpdated(const Signal *sig) { +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 Signal *sig) { +void SignalModel::handleSignalRemoved(const cabana::Signal *sig) { if (int row = signalRow(sig); row != -1) { beginRemoveRows({}, row, row); delete root->children.takeAt(row); @@ -431,7 +431,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), 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) { selectSignal(sig); }); + QObject::connect(dbc(), &DBCManager::signalAdded, [this](uint32_t address, const cabana::Signal *sig) { selectSignal(sig); }); setWhatsThis(tr(R"( Signal view
@@ -485,7 +485,7 @@ void SignalView::rowClicked(const QModelIndex &index) { } } -void SignalView::selectSignal(const Signal *sig, bool expand) { +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) { @@ -509,7 +509,7 @@ void SignalView::updateChartState() { } } -void SignalView::signalHovered(const Signal *sig) { +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; diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index da3bc36c62..39fe5f270f 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -21,7 +21,7 @@ public: Item *parent = nullptr; QList children; - const Signal *sig = nullptr; + const cabana::Signal *sig = nullptr; QString title; bool highlight = false; bool extra_expanded = false; @@ -39,18 +39,18 @@ public: 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); + 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 Signal *sig) const; + int signalRow(const cabana::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 insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig); + void handleSignalAdded(uint32_t address, const cabana::Signal *sig); + void handleSignalUpdated(const cabana::Signal *sig); + void handleSignalRemoved(const cabana::Signal *sig); void handleMsgChanged(uint32_t address); void refresh(); void updateState(const QHash *msgs); @@ -94,15 +94,15 @@ class SignalView : public QFrame { public: SignalView(ChartsWidget *charts, QWidget *parent); void setMessage(const MessageId &id); - void signalHovered(const Signal *sig); + void signalHovered(const cabana::Signal *sig); void updateChartState(); - void selectSignal(const Signal *sig, bool expand = false); + void selectSignal(const cabana::Signal *sig, bool expand = false); 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); + void highlight(const cabana::Signal *sig); + void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge); private: void rowsChanged(); diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc index 6f9f2d016b..124eb7428a 100644 --- a/tools/cabana/tests/test_cabana.cc +++ b/tools/cabana/tests/test_cabana.cc @@ -5,7 +5,6 @@ #include "tools/replay/logreader.h" #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; // 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"; diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc index 27cb7bced8..ffb0e54b0e 100644 --- a/tools/cabana/tools/findsimilarbits.cc +++ b/tools/cabana/tools/findsimilarbits.cc @@ -9,7 +9,6 @@ #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags() | Qt::Window) { setWindowTitle(tr("Find similar bits")); diff --git a/tools/cabana/tools/findsimilarbits.h b/tools/cabana/tools/findsimilarbits.h index ba9b063baf..53d7806a8f 100644 --- a/tools/cabana/tools/findsimilarbits.h +++ b/tools/cabana/tools/findsimilarbits.h @@ -7,7 +7,6 @@ #include #include "tools/cabana/dbcmanager.h" -using namespace dbcmanager; class FindSimilarBitsDlg : public QDialog { Q_OBJECT diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index 778ffbc859..656c97489c 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -128,7 +128,7 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem & } } -QColor getColor(const Signal *sig) { +QColor getColor(const cabana::Signal *sig) { float h = 19 * (float)sig->lsb / 64.0; h = fmod(h, 1.0); diff --git a/tools/cabana/util.h b/tools/cabana/util.h index cf1b5d4b20..03732ee13f 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -11,8 +11,7 @@ #include #include -#include "tools/cabana/dbcmanager.h" -using namespace dbcmanager; +#include "tools/cabana/dbc.h" class ChangeTracker { public: @@ -59,7 +58,7 @@ public: inline QString toHex(const QByteArray &dat) { return dat.toHex(' ').toUpper(); } QString toHex(uint8_t byte); -QColor getColor(const dbcmanager::Signal *sig); +QColor getColor(const cabana::Signal *sig); class NameValidator : public QRegExpValidator { Q_OBJECT diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 1a7e27f1b3..d10b09fec5 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -13,7 +13,6 @@ #include "selfdrive/ui/qt/widgets/controls.h" #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; class Slider : public QSlider { Q_OBJECT From c32a45b5b59396d7c7b90ede8db4e8ad678f39c5 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 10 Mar 2023 20:20:59 +0100 Subject: [PATCH 24/43] cabana: autocomplete signal names (#27553) --- tools/cabana/dbcmanager.cc | 13 +++++++++++++ tools/cabana/dbcmanager.h | 1 + tools/cabana/signaledit.cc | 9 +++++++++ 3 files changed, 23 insertions(+) diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index e9ebcd2791..b3a90e0b70 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -178,6 +178,19 @@ void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) { } } +QStringList DBCManager::signalNames() { + // Used for autocompletion + QStringList ret; + for (auto const& [_, msg] : msgs) { + for (auto sig: msg.getSignals()) { + ret << sig->name; + } + } + ret.sort(); + ret.removeDuplicates(); + return ret; +} + DBCManager *dbc() { static DBCManager dbc_manager(nullptr); return &dbc_manager; diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index 3b222b1dcb..4be7593808 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -30,6 +30,7 @@ public: auto it = msgs.find(address); return it != msgs.end() ? &it->second : nullptr; } + QStringList signalNames(); signals: void signalAdded(uint32_t address, const cabana::Signal *sig); diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 8c28d92437..5fb56dc1bc 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -1,6 +1,7 @@ #include "tools/cabana/signaledit.h" #include +#include #include #include #include @@ -368,6 +369,14 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie 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); From ee615a30775c56be2c13a4acb4a755072000b8d6 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 10 Mar 2023 20:21:34 +0100 Subject: [PATCH 25/43] cabana: create autosave file when there are unsaved changes (#27542) --- tools/cabana/mainwin.cc | 31 ++++++++++++++++++++++++++++++- tools/cabana/mainwin.h | 4 ++++ 2 files changed, 34 insertions(+), 1 deletion(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 17b720bd55..1559700951 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -214,6 +214,7 @@ void MainWindow::undoStackIndexChanged(int index) { } prev_undostack_index = index; prev_undostack_count = count; + autoSave(); } void MainWindow::undoStackCleanChanged(bool clean) { @@ -255,7 +256,18 @@ void MainWindow::openFile() { void MainWindow::loadFile(const QString &fn) { if (!fn.isEmpty()) { - QFile file(fn); + 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 + } + } + + QFile file(dbc_fn); if (file.open(QIODevice::ReadOnly)) { auto dbc_name = QFileInfo(fn).baseName(); QString error; @@ -340,7 +352,23 @@ void MainWindow::save() { } } +void MainWindow::autoSave() { + if (!current_file.isEmpty() && !UndoStack::instance()->isClean()) { + QFile file(current_file + AUTO_SAVE_EXTENSION); + if (file.open(QIODevice::WriteOnly)) { + file.write(dbc()->generateDBC().toUtf8()); + } + } +} + +void MainWindow::cleanupAutoSaveFile() { + if (!current_file.isEmpty()) { + QFile::remove(current_file + AUTO_SAVE_EXTENSION); + } +} + void MainWindow::saveFile(const QString &fn) { + cleanupAutoSaveFile(); QFile file(fn); if (file.open(QIODevice::WriteOnly)) { file.write(dbc()->generateDBC().toUtf8()); @@ -445,6 +473,7 @@ void MainWindow::dockCharts(bool dock) { } void MainWindow::closeEvent(QCloseEvent *event) { + cleanupAutoSaveFile(); remindSaveChanges(); main_win = nullptr; diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 1c21d69370..3258b95cde 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -13,6 +13,8 @@ #include "tools/cabana/videowidget.h" #include "tools/cabana/tools/findsimilarbits.h" +const QString AUTO_SAVE_EXTENSION = ".tmp"; + class MainWindow : public QMainWindow { Q_OBJECT @@ -42,6 +44,8 @@ signals: protected: void remindSaveChanges(); void saveFile(const QString &fn); + void autoSave(); + void cleanupAutoSaveFile(); void setCurrentFile(const QString &fn); void updateRecentFileActions(); void createActions(); From 0fb8e974801b3a9fc664076830a8595a752d5c87 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 10 Mar 2023 22:29:11 +0100 Subject: [PATCH 26/43] cabana: use ID as NEW_MSG_ suffix (#27554) * cabana: use ID as NEW_MSG_ suffix * start suffix at _1 --- tools/cabana/signaledit.cc | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 5fb56dc1bc..ced7cd7d24 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -236,8 +236,9 @@ bool SignalModel::saveSignal(const cabana::Signal *origin_s, cabana::Signal &s) 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); + for (int i = 0; !msg; ++i) { + QString name = QString("NEW_MSG_") + QString::number(msg_id.address, 16).toUpper(); + if (i > 0) name += QString("_%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); From dc5a65049ef93cd0c342d32cc5eecef32e0bb145 Mon Sep 17 00:00:00 2001 From: protonchang <2095341+protonchang@users.noreply.github.com> Date: Sat, 11 Mar 2023 07:39:16 +0800 Subject: [PATCH 27/43] Update CHT translation (#27530) * Update zh-CHT translation * Update zh-CHT translation * Update zh-CHT Translation * Update to resolve translation consistency issue * Update zh-CHT translation --- selfdrive/ui/translations/main_zh-CHT.ts | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index e4058ee0db..83db0b7301 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. @@ -592,16 +592,16 @@ location set 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 @@ -703,11 +703,11 @@ This may take up to a minute. 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 @@ -1028,11 +1028,11 @@ This may take up to a minute. 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. From eb67deef92be8af17596c08e9f98c240fc7d23e3 Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Fri, 10 Mar 2023 17:43:18 -0600 Subject: [PATCH 28/43] Add missing LEXUS_ESH_TSS2 engine f/w (#27506) `awesome-fu#6174` 2019 Lexus ES300h DongleID/route e5fc06c3b27fb519|2023-03-05--17-21-28 https://github.com/commaai/openpilot/issues/27501 --- selfdrive/car/toyota/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 35e2db8b1e..a8e143e80a 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1637,6 +1637,7 @@ 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', From dc31c50aa7bda8d5aab43b0382342ae5162ed37d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 12 Mar 2023 04:47:34 +0800 Subject: [PATCH 29/43] cabana: split events into chunks and processed concurrently (#27562) --- tools/cabana/streams/abstractstream.cc | 56 ++++++++++++++++++-------- 1 file changed, 39 insertions(+), 17 deletions(-) diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index 3e631d3709..6af831a1d0 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -1,5 +1,7 @@ #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) { @@ -59,39 +61,59 @@ const CanData &AbstractStream::lastMessage(const MessageId &id) { return it != can_msgs.end() ? it.value() : empty_data; } -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) { +static QHash parseEvents(std::vector::const_reverse_iterator first, + std::vector::const_reverse_iterator last, double route_start_time) { + QHash msgs; + msgs.reserve(500); + 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()}]; + auto &m = 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); } } } } + return msgs; +}; + +// it is thread safe to update data in updateLastMsgsTo. +// updateEvent will not be called before replayStream::seekedTo return. +void AbstractStream::updateLastMsgsTo(double sec) { + uint64_t ts = (sec + routeStartTime()) * 1e9; + const uint64_t delta = std::max(std::ceil(sec / std::thread::hardware_concurrency()), 30.0) * 1e9; + const auto evs = events(); + auto first = std::upper_bound(evs->crbegin(), evs->crend(), ts, [](uint64_t ts, auto &e) { return ts > e->mono_time; }); + QFutureSynchronizer> synchronizer; + while(first != evs->crend()) { + ts = (*first)->mono_time > delta ? (*first)->mono_time - delta : 0; + auto last = std::lower_bound(first, evs->crend(), ts, [](auto &e, uint64_t ts) { return e->mono_time > ts; }); + synchronizer.addFuture(QtConcurrent::run(parseEvents, first, last, routeStartTime())); + first = last; + } + synchronizer.waitForFinished(); - // 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; + counters.clear(); + for (const auto &f : synchronizer.futures()) { + auto msgs = f.result(); + for (auto it = msgs.cbegin(); it != msgs.cend(); ++it) { + counters[it.key()] += it.value().count; + auto m = can_msgs.find(it.key()); + if (m == can_msgs.end()) { + m = can_msgs.insert(it.key(), it.value()); + } else { + m.value().count += it.value().count; + } + m.value().freq = m.value().count / std::max(1.0, m.value().ts); + } } emit updated(); emit msgsReceived(&can_msgs); From fc44ed63d78c3b45020db1130dae41f597c91e18 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Sat, 11 Mar 2023 21:47:53 +0100 Subject: [PATCH 30/43] cabana: extend max chart range to 30 minutes (#27555) --- tools/cabana/chartswidget.cc | 4 ++-- tools/cabana/chartswidget.h | 2 +- tools/cabana/settings.cc | 2 +- tools/cabana/settings.h | 2 +- tools/cabana/util.h | 18 ++++++++++++++++++ 5 files changed, 23 insertions(+), 5 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 5bab261ba7..c0432d0c09 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -45,7 +45,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) { toolbar->addWidget(stretch_label); range_lb_action = toolbar->addWidget(range_lb = new QLabel(this)); - range_slider = new QSlider(Qt::Horizontal, 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); @@ -163,7 +163,7 @@ void ChartsWidget::updateState() { } void ChartsWidget::setMaxChartRange(int value) { - max_chart_range = settings.chart_range = value; + max_chart_range = settings.chart_range = range_slider->value(); updateToolBar(); updateState(); } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index fdfbbc11ff..adce1e0f4d 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -137,7 +137,7 @@ private: QLabel *title_label; QLabel *range_lb; - QSlider *range_slider; + LogSlider *range_slider; QAction *range_lb_action; QAction *range_slider_action; bool docking = true; diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 23f001efff..00bbb94de5 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -32,7 +32,7 @@ void Settings::save() { 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(); diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index a302d20077..c3ba906576 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -14,7 +14,7 @@ public: 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 diff --git a/tools/cabana/util.h b/tools/cabana/util.h index 03732ee13f..b1acdd8c6e 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -1,6 +1,7 @@ #pragma once #include +#include #include #include @@ -29,6 +30,23 @@ private: QByteArray prev_dat; }; +class LogSlider : public QSlider { + Q_OBJECT + +public: + LogSlider(double factor, Qt::Orientation orientation, QWidget *parent = nullptr) : factor(factor), QSlider(orientation, parent) {}; + + void setRange(double min, double max) { QSlider::setRange(logScale(min), logScale(max)); } + int value() const { return invLogScale(QSlider::value()); } + void setValue(int value) { QSlider::setValue(logScale(value)); } + +private: + double factor; + int logScale(int value) const { return factor * std::log10(value); } + int invLogScale(int value) const { return std::pow(10, value / factor); } +}; + + enum { ColorsRole = Qt::UserRole + 1, BytesRole = Qt::UserRole + 2 From e146bb1a96e98e2dc3d9b777a259044e73a9a633 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Sat, 11 Mar 2023 16:26:39 -0800 Subject: [PATCH 31/43] update modeld/models readme (#27564) * update readme with new model design * typo * space --- selfdrive/modeld/models/README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/modeld/models/README.md b/selfdrive/modeld/models/README.md index 6b704cbfa8..1bfca8e95a 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) From 3eb74d805a1d81722bb2b00105d584a11f8d5c9b Mon Sep 17 00:00:00 2001 From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Date: Mon, 13 Mar 2023 14:24:30 -0300 Subject: [PATCH 32/43] Update Directory Structure (#27569) * Update Directory Structure Update directory structure to the latest commits [ sensord: move to system/ (#27531) , loggerd: move to system/ (#27534) , ubloxd: move to system/ (#27536) ]. * Update README.md --------- Co-authored-by: Adeeb Shihadeh --- README.md | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 4896d9ff72..a71a9e671e 100755 --- a/README.md +++ b/README.md @@ -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 From d09a9a08fc21edc03edeb40e1080d8495a7d2915 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 14 Mar 2023 01:25:16 +0800 Subject: [PATCH 33/43] cabana: fix hang on scrubbing in zommed chart (#27568) --- tools/cabana/chartswidget.cc | 10 ++++++---- tools/cabana/streams/abstractstream.cc | 8 +++++--- 2 files changed, 11 insertions(+), 7 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index c0432d0c09..f9661046c8 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -723,10 +723,12 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { void ChartView::mouseMoveEvent(QMouseEvent *ev) { // Scrubbing if (is_scrubbing && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) { - double t = chart()->mapToValue({(double)ev->x(), (double)ev->y()}).x(); - // Prevent seeking past the end of the route - t = std::clamp(t, 0., can->totalSeconds()); - can->seekTo(t); + if (chart()->plotArea().contains(ev->pos())) { + double t = chart()->mapToValue(ev->pos()).x(); + // Prevent seeking past the end of the route + t = std::clamp(t, 0., can->totalSeconds()); + can->seekTo(t); + } return; } diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index 6af831a1d0..40e9cbc8a5 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -1,5 +1,5 @@ #include "tools/cabana/streams/abstractstream.h" - +#include #include AbstractStream *can = nullptr; @@ -115,6 +115,8 @@ void AbstractStream::updateLastMsgsTo(double sec) { m.value().freq = m.value().count / std::max(1.0, m.value().ts); } } - emit updated(); - emit msgsReceived(&can_msgs); + QTimer::singleShot(0, [this]() { + emit updated(); + emit msgsReceived(&can_msgs); + }); } From 9ecf3e7c327e616fcdc65db73606f838f55bdaa5 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Mon, 13 Mar 2023 17:28:45 -0400 Subject: [PATCH 34/43] VW PQ: Message corrections for ACC_GRA_Anzeige (#27572) * VW PQ: Correct message name for ACC_GRA_Anzeige * bump opendbc --- opendbc | 2 +- selfdrive/car/volkswagen/carstate.py | 10 +++++----- selfdrive/car/volkswagen/pqcan.py | 2 +- selfdrive/car/volkswagen/values.py | 2 +- 4 files changed, 8 insertions(+), 8 deletions(-) diff --git a/opendbc b/opendbc index 510bfc0695..b7d4a6e271 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 510bfc06954e31257f8d8de17adf92f9a68a1b71 +Subproject commit b7d4a6e2718d9ec3cf436441696528bedb1d44cf 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/pqcan.py b/selfdrive/car/volkswagen/pqcan.py index 130f107950..84200c2921 100644 --- a/selfdrive/car/volkswagen/pqcan.py +++ b/selfdrive/car/volkswagen/pqcan.py @@ -88,4 +88,4 @@ def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance # 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 8e12923983..694b4006f8 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -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)) From 17b71b477e596529d36dc7f95e3fa42697adfadc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 13 Mar 2023 15:30:38 -0700 Subject: [PATCH 35/43] plannerd: add frameId to uiPlan (#27573) * plannerd: add frameId to uiPlan * update refs --- cereal | 2 +- selfdrive/controls/plannerd.py | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/cereal b/cereal index 42f84fd85d..9888e0476c 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 42f84fd85d06c0fc85371daa2b4820fca49d763e +Subproject commit 9888e0476c05069d46f273569467e4371b2d8690 diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index d8cf9386d1..14934254af 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -19,6 +19,7 @@ def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner): 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() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 79769e14b6..a8896884e1 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f9c7e05b836c4bff364978752e82d64b90f9d6e6 +3c5ebb007f76ba0de710ff7a8cf5910ad2edf22f \ No newline at end of file From 4692cf7d1ccc9d76f9c0189ca86c84d784ea85de Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 13 Mar 2023 17:07:42 -0700 Subject: [PATCH 36/43] Chrysler Pacifica 2018: add missing CAN fp (#27576) new pacifica FPs --- selfdrive/car/chrysler/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 2af5246b88..9f00484f34 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -99,7 +99,7 @@ FINGERPRINTS = { 55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 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, 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, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 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, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 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, 1537: 8, 1538: 8, 1562: 8 }, { - 55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 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, 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, 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, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 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, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 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, 1537: 8, 1538: 8, 1562: 8 + 55: 8, 58: 6, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 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, 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, 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, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 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, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 956: 8, 969: 4, 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, 1537: 8, 1538: 8, 1562: 8 }], CAR.PACIFICA_2020: [{ 55: 8, 179: 8, 181: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 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, 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 From d75ee19defc279837f64fd62a0dbe2db4acd1a2d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 14 Mar 2023 09:25:09 -0700 Subject: [PATCH 37/43] Only trust locationd for nav (#27579) * Only trust locationd for nav * unused var --- selfdrive/ui/qt/maps/map.cc | 38 ------------------------------------- selfdrive/ui/ui.cc | 3 +-- 2 files changed, 1 insertion(+), 40 deletions(-) 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/ui.cc b/selfdrive/ui/ui.cc index 50843de68e..c9e8c4e2d6 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -252,8 +252,7 @@ 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", - "uiPlan", + "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan", }); Params params; From b591b0c764b3ba025ec31b083143fcab4ffcb0d8 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 14 Mar 2023 19:29:00 +0100 Subject: [PATCH 38/43] cabana: show signal values with consistent number of digits (#27556) --- tools/cabana/dbc.cc | 5 +++++ tools/cabana/dbc.h | 2 ++ tools/cabana/dbcmanager.cc | 1 + tools/cabana/historylog.cc | 7 +++++-- tools/cabana/signaledit.cc | 3 ++- tools/cabana/util.cc | 10 ++++++++++ tools/cabana/util.h | 1 + 7 files changed, 26 insertions(+), 3 deletions(-) diff --git a/tools/cabana/dbc.cc b/tools/cabana/dbc.cc index 8ffb660286..ff100e01f7 100644 --- a/tools/cabana/dbc.cc +++ b/tools/cabana/dbc.cc @@ -1,4 +1,5 @@ #include "tools/cabana/dbc.h" +#include "tools/cabana/util.h" uint qHash(const MessageId &item) { return qHash(item.source) ^ qHash(item.address); @@ -12,6 +13,10 @@ std::vector cabana::Msg::getSignals() const { return ret; } +void cabana::Signal::updatePrecision() { + precision = std::max(num_decimals(factor), num_decimals(offset)); +} + // helper functions static QVector BIG_ENDIAN_START_BITS = []() { diff --git a/tools/cabana/dbc.h b/tools/cabana/dbc.h index 3c58e38055..a2ebbc16cc 100644 --- a/tools/cabana/dbc.h +++ b/tools/cabana/dbc.h @@ -51,6 +51,8 @@ namespace cabana { QString min, max, unit; QString comment; ValueDescription val_desc; + int precision = 0; + void updatePrecision(); }; struct Msg { diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index b3a90e0b70..edf0007ed2 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -38,6 +38,7 @@ bool DBCManager::open(const QString &name, const QString &content, QString *erro sig.factor = s.factor; sig.offset = s.offset; sig.is_little_endian = s.is_little_endian; + sig.updatePrecision(); } } parseExtraInfo(content); diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 57f65b97d8..830fd30d49 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -14,11 +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); + 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 Qt::AlignRight; } return {}; } @@ -235,7 +238,7 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) { 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); diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index ced7cd7d24..fd04a75f81 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -62,7 +62,7 @@ void SignalModel::updateState(const QHash *msgs) { auto &dat = can->lastMessage(msg_id).dat; int row = 0; for (auto item : root->children) { - QString value = QString::number(get_raw_value((uint8_t *)dat.begin(), dat.size(), *item->sig)); + QString value = QString::number(get_raw_value((uint8_t *)dat.begin(), dat.size(), *item->sig), 'f', item->sig->precision); if (!item->sig->unit.isEmpty()){ value += " " + item->sig->unit; } @@ -184,6 +184,7 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r 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; diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index 656c97489c..b37b7911ed 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -184,3 +184,13 @@ QString toHex(uint8_t byte) { }(); 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 b1acdd8c6e..3cf14982a9 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -91,3 +91,4 @@ QPixmap icon(const QString &id); } QToolButton *toolButton(const QString &icon, const QString &tooltip); +int num_decimals(double num); From 0afd3bab34432e0ba83818c264f17e3ef16005df Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 14 Mar 2023 19:31:04 +0100 Subject: [PATCH 39/43] cabana: DBCManager only expose methods/signals through MessageId (#27540) --- tools/cabana/chartswidget.cc | 4 +-- tools/cabana/chartswidget.h | 4 +-- tools/cabana/dbcmanager.cc | 22 +++++++++++++-- tools/cabana/dbcmanager.h | 38 +++++++++++++++++++++----- tools/cabana/detailwidget.cc | 5 ++-- tools/cabana/detailwidget.h | 1 + tools/cabana/mainwin.cc | 4 ++- tools/cabana/signaledit.cc | 13 ++++----- tools/cabana/signaledit.h | 4 +-- tools/cabana/streams/abstractstream.cc | 5 ++++ tools/cabana/streams/abstractstream.h | 2 ++ tools/cabana/tests/test_cabana.cc | 12 ++++---- tools/cabana/tools/findsimilarbits.cc | 5 ++-- 13 files changed, 84 insertions(+), 35 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index f9661046c8..184d41ca0b 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -421,8 +421,8 @@ void ChartView::signalUpdated(const cabana::Signal *sig) { } } -void ChartView::msgUpdated(uint32_t address) { - if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.msg_id.address == address; })) +void ChartView::msgUpdated(MessageId id) { + if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.msg_id == id; })) updateTitle(); } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index adce1e0f4d..bdc924ff83 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -57,11 +57,11 @@ signals: void axisYLabelWidthChanged(int w); private slots: - void msgUpdated(uint32_t address); void signalUpdated(const cabana::Signal *sig); void manageSeries(); void handleMarkerClicked(); - void msgRemoved(uint32_t address) { removeIf([=](auto &s) { return s.msg_id.address == address; }); } + 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: diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index edf0007ed2..651367ba57 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -144,19 +144,31 @@ void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t si auto &m = msgs[id.address]; m.name = name; m.size = size; - emit msgUpdated(id.address); + + // This DBC applies to all active sources, emit for every source + for (uint8_t source : sources) { + emit msgUpdated({.source = source, .address = id.address}); + } } void DBCManager::removeMsg(const MessageId &id) { msgs.erase(id.address); - emit msgRemoved(id.address); + + // This DBC applies to all active sources, emit for every source + for (uint8_t source : sources) { + emit msgRemoved({.source = source, .address = id.address}); + } } void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) { if (auto m = const_cast(msg(id.address))) { m->sigs.push_back(sig); auto s = &m->sigs.last(); - emit signalAdded(id.address, s); + + // This DBC applies to all active sources, emit for every source + for (uint8_t source : sources) { + emit signalAdded({.source = source, .address = id.address}, s); + } } } @@ -192,6 +204,10 @@ QStringList DBCManager::signalNames() { return ret; } +void DBCManager::updateSources(const QSet &s) { + sources = s; +} + DBCManager *dbc() { static DBCManager dbc_manager(nullptr); return &dbc_manager; diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index 4be7593808..dd3d9811c7 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -5,6 +5,8 @@ #include #include #include +#include +#include #include "tools/cabana/dbc.h" @@ -20,30 +22,52 @@ public: 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); + inline int msgCount() const { return msgs.size(); } inline QString name() const { return name_; } 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 std::map getMessages(uint8_t source) { + std::map ret; + for (auto &[address, msg] : msgs) { + MessageId id = {.source = source, .address = address}; + ret[id] = msg; + } + return ret; + } inline const cabana::Msg *msg(const MessageId &id) const { return msg(id.address); } - inline const cabana::Msg *msg(uint32_t address) const { - auto it = msgs.find(address); - return it != msgs.end() ? &it->second : nullptr; + inline const cabana::Msg* msg(uint8_t source, const QString &name) { + for (auto &[_, msg] : msgs) { + if (msg.name == name) { + return &msg; + } + } + + return nullptr; } QStringList signalNames(); +public slots: + void updateSources(const QSet &s); + signals: - void signalAdded(uint32_t address, const cabana::Signal *sig); + void signalAdded(MessageId id, const cabana::Signal *sig); void signalRemoved(const cabana::Signal *sig); void signalUpdated(const cabana::Signal *sig); - void msgUpdated(uint32_t address); - void msgRemoved(uint32_t address); + void msgUpdated(MessageId id); + void msgRemoved(MessageId id); void DBCFileChanged(); private: void parseExtraInfo(const QString &content); std::map msgs; QString name_; + QSet sources; + + inline const cabana::Msg *msg(uint32_t address) const { + auto it = msgs.find(address); + return it != msgs.end() ? &it->second : nullptr; + } }; DBCManager *dbc(); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 05a0528d0e..ab723fa0e2 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -177,7 +177,7 @@ void DetailWidget::removeMsg() { // 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); @@ -207,8 +207,7 @@ void EditMessageDialog::validateName(const QString &text) { bool valid = text.compare(UNTITLED, Qt::CaseInsensitive) != 0; error_label->setVisible(false); if (!text.isEmpty() && valid && text != original_name) { - valid = std::none_of(dbc()->messages().begin(), dbc()->messages().end(), - [&text](auto &m) { return m.second.name == text; }); + valid = dbc()->msg(msg_id.source, text) == nullptr; if (!valid) { error_label->setText(tr("Name already exists")); error_label->setVisible(true); diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 0bfd8a74af..cc5bffd534 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -15,6 +15,7 @@ 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; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 1559700951..56ffe872d6 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -42,6 +42,7 @@ MainWindow::MainWindow() : QMainWindow() { messages_widget->restoreHeaderState(settings.message_header_state); qRegisterMetaType("uint64_t"); + qRegisterMetaType>("QSet"); qRegisterMetaType("ReplyMsgType"); installMessageHandler([this](ReplyMsgType type, const std::string msg) { // use queued connection to recv the log messages from replay. @@ -70,6 +71,7 @@ MainWindow::MainWindow() : QMainWindow() { QObject::connect(can, &AbstractStream::streamStarted, this, &MainWindow::loadDBCFromFingerprint); QObject::connect(can, &AbstractStream::eventsMerged, this, &MainWindow::updateStatus); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged); + QObject::connect(can, &AbstractStream::sourcesUpdated, dbc(), &DBCManager::updateSources); 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); @@ -310,7 +312,7 @@ void MainWindow::loadDBCFromClipboard() { QString dbc_str = QGuiApplication::clipboard()->text(); QString error; bool ret = dbc()->open("clipboard", dbc_str, &error); - if (ret && dbc()->messages().size() > 0) { + 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.")); diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index fd04a75f81..673a68a50b 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -239,8 +239,7 @@ void SignalModel::addSignal(int start_bit, int size, bool little_endian) { auto msg = dbc()->msg(msg_id); for (int i = 0; !msg; ++i) { QString name = QString("NEW_MSG_") + QString::number(msg_id.address, 16).toUpper(); - if (i > 0) name += QString("_%1").arg(i); - if (std::none_of(dbc()->messages().begin(), dbc()->messages().end(), [&](auto &m) { return m.second.name == name; })) { + if (!dbc()->msg(msg_id.source, name)) { UndoStack::push(new EditMsgCommand(msg_id, name, can->lastMessage(msg_id).dat.size())); msg = dbc()->msg(msg_id); } @@ -265,14 +264,14 @@ void SignalModel::removeSignal(const cabana::Signal *sig) { UndoStack::push(new RemoveSigCommand(msg_id, sig)); } -void SignalModel::handleMsgChanged(uint32_t address) { - if (address == msg_id.address) { +void SignalModel::handleMsgChanged(MessageId id) { + if (id == msg_id) { refresh(); } } -void SignalModel::handleSignalAdded(uint32_t address, const cabana::Signal *sig) { - if (address == msg_id.address) { +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; @@ -442,7 +441,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), 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 cabana::Signal *sig) { selectSignal(sig); }); + QObject::connect(dbc(), &DBCManager::signalAdded, [this](MessageId id, const cabana::Signal *sig) { selectSignal(sig); }); setWhatsThis(tr(R"( Signal view
diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index 39fe5f270f..ae73a7b3bc 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -48,10 +48,10 @@ public: private: void insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig); - void handleSignalAdded(uint32_t address, 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(uint32_t address); + void handleMsgChanged(MessageId id); void refresh(); void updateState(const QHash *msgs); diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index 40e9cbc8a5..c8ff449098 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -39,6 +39,11 @@ bool AbstractStream::updateEvent(const Event *event) { data.colors = tracker.colors; data.last_change_t = tracker.last_change_t; data.bit_change_counts = tracker.bit_change_counts; + + if (!sources.contains(id.source)) { + sources.insert(id.source); + emit sourcesUpdated(sources); + } } double ts = millis_since_boot(); diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index e582682971..de7c394303 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -52,9 +52,11 @@ signals: void updated(); void msgsReceived(const QHash *); void received(QHash *); + void sourcesUpdated(const QSet &s); public: QHash can_msgs; + QSet sources; protected: void process(QHash *); diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc index 124eb7428a..8445867acb 100644 --- a/tools/cabana/tests/test_cabana.cc +++ b/tools/cabana/tests/test_cabana.cc @@ -15,11 +15,11 @@ TEST_CASE("DBCManager::generateDBC") { DBCManager dbc_from_generated(nullptr); dbc_from_generated.open("", 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(0); + auto new_msgs = dbc_from_generated.getMessages(0); + 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.getSignals().size() == new_m.getSignals().size()); @@ -43,7 +43,7 @@ TEST_CASE("Parse can messages") { if (e->which == cereal::Event::Which::CAN) { 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 sig : msg->getSignals()) { double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *sig); diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc index ffb0e54b0e..7768359df4 100644 --- a/tools/cabana/tools/findsimilarbits.cc +++ b/tools/cabana/tools/findsimilarbits.cc @@ -29,8 +29,9 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi bus_combo->setCurrentIndex(0); msg_cb = new QComboBox(this); - for (auto &[address, msg] : dbc()->messages()) { - msg_cb->addItem(msg.name, address); + // TODO: update when 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); From 696cbb3e242a0613d4a8183df1eafd2fbcaf755b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 15 Mar 2023 02:31:57 +0800 Subject: [PATCH 40/43] cabana: fix incorrect current ts in live stream mode (#27578) --- tools/cabana/streams/livestream.cc | 21 ++++++++++----------- tools/cabana/streams/livestream.h | 1 - 2 files changed, 10 insertions(+), 12 deletions(-) diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc index 8f63d3baec..592d883c4c 100644 --- a/tools/cabana/streams/livestream.cc +++ b/tools/cabana/streams/livestream.cc @@ -45,12 +45,11 @@ void LiveStream::streamThread() { } void LiveStream::handleEvent(Event *evt) { - current_ts = evt->mono_time; - if (start_ts == 0 || current_ts < start_ts) { - if (current_ts < start_ts) { + if (start_ts == 0 || evt->mono_time < start_ts) { + if (evt->mono_time < start_ts) { qDebug() << "stream is looping back to old time stamp"; } - start_ts = current_ts.load(); + start_ts = current_ts = evt->mono_time; emit streamStarted(); } @@ -58,19 +57,19 @@ void LiveStream::handleEvent(Event *evt) { 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) { + auto it = std::upper_bound(can_events.cbegin(), can_events.cend(), current_ts, [](uint64_t ts, auto &e) { return ts < e->mono_time; }); + if (it != can_events.cend()) { + bool skip = (nanos_since_boot() - last_update_ts) < ((*it)->mono_time - current_ts) / speed_; + if (skip) return; - if (it != can_events.end() && - (nanos_since_boot() - last_update_ts) < ((*it)->mono_time - last_update_event_ts) / speed_) { - return; + evt = *it; } - evt = (*it); } - updateEvent(evt); - last_update_event_ts = evt->mono_time; + current_ts = evt->mono_time; last_update_ts = nanos_since_boot(); + updateEvent(evt); } } diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h index ba20032b67..43f67ae95f 100644 --- a/tools/cabana/streams/livestream.h +++ b/tools/cabana/streams/livestream.h @@ -32,7 +32,6 @@ protected: 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; From 39cf8c6694731e43a45462be8c645b732059f324 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 14 Mar 2023 13:31:49 -0700 Subject: [PATCH 41/43] only run rawgpsd without a ublox (#27577) --- selfdrive/manager/process_config.py | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 2bacd951a7..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), @@ -50,7 +56,7 @@ procs = [ 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", "system.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"), From d5375af2f5c9f74cb88ffa1ab52feb9fef77a43c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 15 Mar 2023 04:59:22 +0800 Subject: [PATCH 42/43] ui: auto detect available streams (#27470) * auto detect available streams * no switch if wide cam not available * clear frames before getAvailableStreams * warning * clear at same time --------- Co-authored-by: Adeeb Shihadeh --- selfdrive/ui/qt/onroad.cc | 20 +++++++++++--------- selfdrive/ui/qt/widgets/cameraview.cc | 15 +++++++++++++++ selfdrive/ui/qt/widgets/cameraview.h | 5 +++++ selfdrive/ui/ui.cc | 2 -- selfdrive/ui/ui.h | 1 - 5 files changed, 31 insertions(+), 12 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index dc2f1368ac..009798a569 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -648,16 +648,18 @@ 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; diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 8c7a7072e2..10300da55c 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() { @@ -181,6 +183,10 @@ void CameraWidget::stopVipcThread() { } } +void CameraWidget::availableStreamsUpdated(std::set streams) { + available_streams = streams; +} + void CameraWidget::updateFrameMat() { int w = width(), h = height(); @@ -366,6 +372,14 @@ void CameraWidget::vipcThread() { if (!vipc_client->connected) { clearFrames(); + auto streams = VisionIpcClient::getAvailableStreams(stream_name, false); + if (streams.empty()) { + qWarning() << "VisionIPC connected, but no streams available"; + QThread::msleep(100); + continue; + } + emit vipcAvailableStreamsUpdated(streams); + if (!vipc_client->connect(false)) { QThread::msleep(100); continue; @@ -400,4 +414,5 @@ 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..9135620d35 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; @@ -71,6 +72,7 @@ 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 +90,7 @@ 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/ui.cc b/selfdrive/ui/ui.cc index c9e8c4e2d6..50ffc84f4f 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -234,7 +234,6 @@ 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); @@ -256,7 +255,6 @@ UIState::UIState(QObject *parent) : QObject(parent) { }); Params params; - wide_cam_only = params.getBool("WideCameraOnly"); prime_type = std::atoi(params.get("PrimeType").c_str()); language = QString::fromStdString(params.get("LanguageSetting")); diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index ad2a1fe1f4..4c4bd462e7 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -150,7 +150,6 @@ public: QString language; QTransform car_space_transform; - bool wide_cam_only; signals: void uiUpdate(const UIState &s); From e2f4a82c03543651eab1e7e51c411f79b5684a5a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 14 Mar 2023 14:00:39 -0700 Subject: [PATCH 43/43] Add CAN fingerprint to qlog (#27574) --- selfdrive/car/car_helpers.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 370772c902..dc82f56197 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -180,7 +180,7 @@ 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]