diff --git a/Jenkinsfile b/Jenkinsfile index 0d624954ea..696446c65f 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -111,7 +111,7 @@ pipeline { R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}" } steps { - phone_steps("tici", [ + phone_steps("tici-needs-can", [ ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"], ["build openpilot", "cd selfdrive/manager && ./build.py"], ["check dirty", "release/check-dirty.sh"], @@ -122,16 +122,24 @@ pipeline { } } + stage('loopback-tests') { + agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } + steps { + phone_steps("tici-loopback", [ + ["build openpilot", "cd selfdrive/manager && ./build.py"], + ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"], + ]) + } + } + stage('HW + Unit Tests') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } steps { - phone_steps("tici2", [ + phone_steps("tici-common", [ ["build", "cd selfdrive/manager && ./build.py"], ["test power draw", "python system/hardware/tici/test_power_draw.py"], - ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.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 sensord", "python selfdrive/sensord/tests/test_sensord.py"], ["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"], ]) } @@ -159,27 +167,32 @@ pipeline { } } - stage('sensord (LSM-C)') { + stage('sensord') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } steps { phone_steps("tici-lsmc", [ ["build", "cd selfdrive/manager && ./build.py"], ["test sensord", "cd selfdrive/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"], + ]) } } stage('replay') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } steps { - phone_steps("tici3", [ + phone_steps("tici-common", [ ["build", "cd selfdrive/manager && ./build.py"], ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"], ]) } } - } + } } + } } diff --git a/RELEASES.md b/RELEASES.md index 18817bda4d..bf89b667fa 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,19 +1,20 @@ -Version 0.8.17 (2022-11-XX) +Version 0.8.17 (2022-11-21) ======================== * New driving model - * Internal feature space information content increased tenfold during training (to ~700 bits), this makes the model dramatically more accurate + * Internal feature space information content increased tenfold during training (to ~700 bits), which makes the model dramatically more accurate * Less reliance on previous frames makes model more reactive and snappy * Trained in new reprojective simulator - * Model trained in openpilot was trained in 36hrs from scratch, compared to around 1 week of previous releases - * Model training now simulates lateral and longitudinal behavior, this allows openpilot to slow down for turns, stop at traffic lights, etc,... in experimental mode -* New driver monitoring model - * New end-to-end distracted trigger + * Trained in 36hrs from scratch, compared to one week for previous releases + * Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode +* Driver monitoring updates + * New bigger model with added end-to-end distracted trigger + * Reduced false positives during driver calibration * Experimental driving mode * End-to-end longitudinal control - * Stops for red lights and stop signs + * Stops for traffic lights and stop signs + * Slows down for turns * openpilot defaults to chill mode, enable experimental in settings -* Self-tuning torque lateral controller parameters - * Parameters learned live for each car +* Self-tuning torque controller: learns parameters live for each car * Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models * UI updates * Multi-language in navigation @@ -21,8 +22,10 @@ Version 0.8.17 (2022-11-XX) * Improved update experience * Border turns grey while overriding steering * Bookmark events while driving; view them in comma connect + * New onroad visualization for experimental mode * AGNOS 6 * tools: new and improved cabana thanks to deanlee! +* Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models * Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin! * Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin! * Kia Sportage 2023 support thanks to sunnyhaibin! diff --git a/cereal b/cereal index cdba1aafec..afafa0a2a5 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit cdba1aafec5e36505ef6ace675568e1f15003c47 +Subproject commit afafa0a2a537d775842ab2e1bf20cb9a33b34f9a diff --git a/docs/CARS.md b/docs/CARS.md index 8c2dc9bff4..0b2b7d9d36 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -107,7 +107,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Sportage 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| |Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|Kia|Telluride 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| +|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| @@ -150,7 +150,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#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[1,8](#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[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[9](#footnotes)| -|Škoda|Superb 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| diff --git a/launch_env.sh b/launch_env.sh index 88e1f2a9c5..3059ec268e 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="6.1" + export AGNOS_VERSION="6.2" fi if [ -z "$PASSIVE" ]; then diff --git a/release/files_common b/release/files_common index 26662f1ef1..a294e1e5b5 100644 --- a/release/files_common +++ b/release/files_common @@ -95,6 +95,7 @@ selfdrive/boardd/panda_comms.h selfdrive/boardd/panda_comms.cc selfdrive/boardd/set_time.py selfdrive/boardd/pandad.py +selfdrive/boardd/tests/test_boardd_loopback.py selfdrive/car/__init__.py selfdrive/car/docs_definitions.py diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/boardd/panda_comms.h index 08d0c1a2af..f42eadc5b2 100644 --- a/selfdrive/boardd/panda_comms.h +++ b/selfdrive/boardd/panda_comms.h @@ -5,11 +5,16 @@ #include #include +#include + #include + #define TIMEOUT 0 #define SPI_BUF_SIZE 1024 +const bool PANDA_NO_RETRY = getenv("PANDA_NO_RETRY"); + // comms base class class PandaCommsHandle { @@ -29,7 +34,7 @@ public: virtual int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0; protected: - std::mutex hw_lock; + std::recursive_mutex hw_lock; }; class PandaUsbHandle : public PandaCommsHandle { @@ -65,9 +70,11 @@ public: private: int spi_fd = -1; - int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len); - int wait_for_ack(); - uint8_t tx_buf[SPI_BUF_SIZE]; uint8_t rx_buf[SPI_BUF_SIZE]; + + int wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack); + int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len); + int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len); + int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len); }; diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc index 1ec5e89c71..2803f58db0 100644 --- a/selfdrive/boardd/spi.cc +++ b/selfdrive/boardd/spi.cc @@ -2,10 +2,12 @@ #include #include +#include #include #include "common/util.h" #include "common/swaglog.h" +#include "panda/board/comms_definitions.h" #include "selfdrive/boardd/panda_comms.h" @@ -22,13 +24,6 @@ struct __attribute__((packed)) spi_header { uint16_t max_rx_len; }; -struct __attribute__((packed)) spi_control_packet { - uint16_t request; - uint16_t param1; - uint16_t param2; - uint16_t length; -}; - PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) { LOGD("opening SPI panda: %s", serial.c_str()); @@ -40,7 +35,7 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) { spi_fd = open(serial.c_str(), O_RDWR); if (spi_fd < 0) { - LOGE("failed setting SPI mode %d", err); + LOGE("failed opening SPI device %d", err); goto fail; } @@ -85,51 +80,65 @@ void PandaSpiHandle::cleanup() { int PandaSpiHandle::control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout) { - int err; - - std::lock_guard lk(hw_lock); - do { - spi_control_packet packet = { - .request = request, - .param1 = param1, - .param2 = param2, - .length = 0 - }; - - // TODO: handle error - err = spi_transfer(0, (uint8_t *) &packet, sizeof(packet), NULL, 0); - } while (err < 0 && connected); - - return err; + ControlPacket_t packet = { + .request = request, + .param1 = param1, + .param2 = param2, + .length = 0 + }; + return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), NULL, 0); } int PandaSpiHandle::control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout) { - int err; + ControlPacket_t packet = { + .request = request, + .param1 = param1, + .param2 = param2, + .length = length + }; + return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), data, length); +} + +int PandaSpiHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { + return bulk_transfer(endpoint, data, length, NULL, 0); +} +int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { + return bulk_transfer(endpoint, NULL, 0, data, length); +} +int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len) { std::lock_guard lk(hw_lock); - do { - spi_control_packet packet = { - .request = request, - .param1 = param1, - .param2 = param2, - .length = length - }; - // TODO: handle error - err = spi_transfer(0, (uint8_t *) &packet, sizeof(packet), data, length); - } while (err < 0 && connected); + const int xfer_size = 0x40; + + int ret = 0; + uint16_t length = (tx_data != NULL) ? tx_len : rx_len; + for (int i = 0; i < (int)std::ceil((float)length / xfer_size); i++) { + int d; + if (tx_data != NULL) { + int len = std::min(xfer_size, tx_len - (xfer_size * i)); + d = spi_transfer_retry(endpoint, tx_data + (xfer_size * i), len, NULL, 0); + } else { + d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), xfer_size); + } - return err; -} + if (d < 0) { + LOGE("SPI: bulk transfer failed with %d", d); + comms_healthy = false; + return -1; + } -int PandaSpiHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { - return 0; -} + ret += d; + if ((rx_data != NULL) && d < xfer_size) { + break; + } + } -int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { - return 0; + return ret; } + + std::vector PandaSpiHandle::list() { // TODO: list all pandas available over SPI return {}; @@ -144,6 +153,46 @@ void add_checksum(uint8_t *data, int data_len) { } } +bool check_checksum(uint8_t *data, int data_len) { + uint8_t checksum = SPI_CHECKSUM_START; + for (uint16_t i = 0U; i < data_len; i++) { + checksum ^= data[i]; + } + return checksum == 0U; +} + + +int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) { + int ret; + + std::lock_guard lk(hw_lock); + do { + // TODO: handle error + ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len); + } while (ret < 0 && connected && !PANDA_NO_RETRY); + + return ret; +} + +int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) { + // TODO: add timeout? + while (true) { + int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); + if (ret < 0) { + LOGE("SPI: failed to send ACK request"); + return ret; + } + + if (rx_buf[0] == ack) { + break; + } else if (rx_buf[0] == SPI_NACK) { + LOGW("SPI: got NACK"); + return -1; + } + } + + return 0; +} int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) { int ret; @@ -178,19 +227,9 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx // Wait for (N)ACK tx_buf[0] = 0x12; transfer.len = 1; - while (true) { - ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); - if (ret < 0) { - LOGE("SPI: failed to send ACK request"); - goto transfer_fail; - } - - if (rx_buf[0] == SPI_HACK) { - break; - } else if (rx_buf[0] == SPI_NACK) { - LOGW("SPI: got header NACK"); - goto transfer_fail; - } + ret = wait_for_ack(transfer, SPI_HACK); + if (ret < 0) { + goto transfer_fail; } // Send data @@ -208,44 +247,40 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx // Wait for (N)ACK tx_buf[0] = 0xab; transfer.len = 1; - while (true) { - ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); - if (ret < 0) { - LOGE("SPI: failed to send ACK request"); - goto transfer_fail; - } - - if (rx_buf[0] == SPI_DACK) { - break; - } else if (rx_buf[0] == SPI_NACK) { - LOGE("SPI: got data NACK"); - goto transfer_fail; - } + ret = wait_for_ack(transfer, SPI_DACK); + if (ret < 0) { + goto transfer_fail; } // Read data len transfer.len = 2; + transfer.rx_buf = (uint64_t)(rx_buf + 1); ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); if (ret < 0) { LOGE("SPI: failed to read rx data len"); goto transfer_fail; } - rx_data_len = *(uint16_t *)rx_buf; + rx_data_len = *(uint16_t *)(rx_buf+1); assert(rx_data_len < SPI_BUF_SIZE); // Read data transfer.len = rx_data_len + 1; + transfer.rx_buf = (uint64_t)(rx_buf + 2 + 1); ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); if (ret < 0) { LOGE("SPI: failed to read rx data"); goto transfer_fail; } - // TODO: check checksum + if (!check_checksum(rx_buf, rx_data_len + 4)) { + LOGE("SPI: bad checksum"); + goto transfer_fail; + } if (rx_data != NULL) { - memcpy(rx_data, rx_buf, rx_data_len); + memcpy(rx_data, rx_buf + 3, rx_data_len); } - ret = rx_data_len; + + return rx_data_len; transfer_fail: return ret; diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index f4b3f88e99..df1b4b2866 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -63,7 +63,7 @@ class CarState(CarStateBase): # Regen braking is braking if self.CP.transmissionType == TransmissionType.direct: - ret.brakePressed = ret.brakePressed or pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0 + ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0 ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254. ret.gasPressed = ret.gas > 1e-5 diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 2420098b4a..eb5ab7329a 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -211,17 +211,20 @@ class CarInterface(CarInterfaceBase): ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback) if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT: - be = create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS) + buttonEvents = [create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)] + # Handle ACCButtons changing buttons mid-press + if self.CS.cruise_buttons != CruiseButtons.UNPRESS and self.CS.prev_cruise_buttons != CruiseButtons.UNPRESS: + buttonEvents.append(create_button_event(CruiseButtons.UNPRESS, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)) - # Suppress resume button if we're resuming from stop so we don't adjust speed. - if be.type == ButtonType.accelCruise and (ret.cruiseState.enabled and ret.standstill): - be.type = ButtonType.unknown - - ret.buttonEvents = [be] + ret.buttonEvents = buttonEvents + # The ECM allows enabling on falling edge of set, but only rising edge of resume events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic], - pcm_enable=self.CP.pcmCruise) + pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,)) + if not self.CP.pcmCruise: + if any(b.type == ButtonType.accelCruise and b.pressed for b in ret.buttonEvents): + events.add(EventName.buttonEnable) # Enabling at a standstill with brake is allowed # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index b7e28825c3..1dba3a5442 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -142,7 +142,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { ], CAR.PALISADE: [ HyundaiCarInfo("Hyundai Palisade 2020-22", "All", "https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h), - HyundaiCarInfo("Kia Telluride 2020", "All", harness=Harness.hyundai_h), + HyundaiCarInfo("Kia Telluride 2020-22", "All", harness=Harness.hyundai_h), ], CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e), CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a), diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 982ba40b17..8e8872a539 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -250,8 +250,8 @@ class CarInterfaceBase(ABC): # Enable OP long on falling edge of enable buttons (defaults to accelCruise and decelCruise, overridable per-port) if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed): events.add(EventName.buttonEnable) - # Disable on rising edge of cancel for both stock and OP long - if b.type == ButtonType.cancel and b.pressed: + # Disable on rising and falling edge of cancel for both stock and OP long + if b.type == ButtonType.cancel: events.add(EventName.buttonCancel) # Handle permanent and temporary steering faults diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index ee25b8205f..56530dd738 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -251,8 +251,8 @@ class TestCarModelBase(unittest.TestCase): if CS.brakePressed and not self.safety.get_brake_pressed_prev(): if self.CP.carFingerprint in (HONDA.PILOT, HONDA.PASSPORT, HONDA.RIDGELINE) and CS.brake > 0.05: brake_pressed = False - safety_brake_pressed = self.safety.get_brake_pressed_prev() or self.safety.get_regen_braking_prev() - checks['brakePressed'] += brake_pressed != safety_brake_pressed + checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev() + checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev() if self.CP.pcmCruise: # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state. diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index babaffbcbe..cb2343e08f 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -233,7 +233,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"), CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"), CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]), - CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-18"), + CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"), CAR.SKODA_OCTAVIA_MK3: [ VWCarInfo("Škoda Octavia 2015, 2018-19"), VWCarInfo("Škoda Octavia RS 2016"), @@ -1064,6 +1064,7 @@ FW_VERSIONS = { }, CAR.SKODA_SUPERB_MK3: { (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704L906026ET\xf1\x891343', b'\xf1\x8704L906026FP\xf1\x891196', b'\xf1\x8704L906026KB\xf1\x894071', b'\xf1\x8704L906026KD\xf1\x894798', @@ -1074,9 +1075,11 @@ FW_VERSIONS = { b'\xf1\x870CW300042H \xf1\x891601', b'\xf1\x870D9300011T \xf1\x894801', b'\xf1\x870D9300012 \xf1\x894940', + b'\xf1\x870D9300041H \xf1\x894905', b'\xf1\x870GC300043 \xf1\x892301', ], (Ecu.srs, 0x715, None): [ + b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111', b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\022111200111121001121118112231292221111', b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111', b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100', diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 0bdaadf6ef..f69e9e7fd1 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -16,8 +16,7 @@ from system.version import is_tested_branch, get_short_branch from selfdrive.boardd.boardd import can_list_to_can_capnp from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can from selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET -from selfdrive.controls.lib.drive_helpers import V_CRUISE_INITIAL, update_v_cruise, initialize_v_cruise -from selfdrive.controls.lib.drive_helpers import get_lag_adjusted_curvature +from selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature from selfdrive.controls.lib.latcontrol import LatControl from selfdrive.controls.lib.longcontrol import LongControl from selfdrive.controls.lib.latcontrol_pid import LatControlPID @@ -49,7 +48,6 @@ Desire = log.LateralPlan.Desire LaneChangeState = log.LateralPlan.LaneChangeState LaneChangeDirection = log.LateralPlan.LaneChangeDirection EventName = car.CarEvent.EventName -ButtonEvent = car.CarState.ButtonEvent ButtonType = car.CarState.ButtonEvent.Type SafetyModel = car.CarParams.SafetyModel @@ -173,9 +171,6 @@ class Controls: self.active = False self.can_rcv_timeout = False self.soft_disable_timer = 0 - self.v_cruise_kph = V_CRUISE_INITIAL - self.v_cruise_cluster_kph = V_CRUISE_INITIAL - self.v_cruise_kph_last = 0 self.mismatch_counter = 0 self.cruise_mismatch_counter = 0 self.can_rcv_timeout_counter = 0 @@ -185,11 +180,11 @@ class Controls: self.events_prev = [] self.current_alert_types = [ET.PERMANENT] self.logged_comm_issue = None - self.button_timers = {ButtonEvent.Type.decelCruise: 0, ButtonEvent.Type.accelCruise: 0} self.last_actuators = car.CarControl.Actuators.new_message() self.steer_limited = False self.desired_curvature = 0.0 self.desired_curvature_rate = 0.0 + self.v_cruise_helper = VCruiseHelper(self.CP) # TODO: no longer necessary, aside from process replay self.sm['liveParameters'].valid = True @@ -219,7 +214,7 @@ class Controls: controls_state = Params().get("ReplayControlsState") if controls_state is not None: controls_state = log.ControlsState.from_bytes(controls_state) - self.v_cruise_kph = controls_state.vCruise + self.v_cruise_helper.v_cruise_kph = controls_state.vCruise if any(ps.controlsAllowed for ps in self.sm['pandaStates']): self.state = State.enabled @@ -245,12 +240,13 @@ class Controls: # Block resume if cruise never previously enabled resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents) - if not self.CP.pcmCruise and self.v_cruise_kph == V_CRUISE_INITIAL and resume_pressed: + if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed: self.events.add(EventName.resumeBlocked) # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0 if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \ - (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)): + (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \ + (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)): self.events.add(EventName.pedalPressed) if CS.gasPressed: @@ -477,20 +473,7 @@ class Controls: def state_transition(self, CS): """Compute conditional state transitions and execute actions on state transitions""" - self.v_cruise_kph_last = self.v_cruise_kph - - if CS.cruiseState.available: - # if stock cruise is completely disabled, then we can use our own set speed logic - if not self.CP.pcmCruise: - self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.vEgo, CS.gasPressed, CS.buttonEvents, - self.button_timers, self.enabled, self.is_metric) - self.v_cruise_cluster_kph = self.v_cruise_kph - else: - self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH - self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH - else: - self.v_cruise_kph = V_CRUISE_INITIAL - self.v_cruise_cluster_kph = V_CRUISE_INITIAL + self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric) # decrement the soft disable timer at every step, as it's reset on # entrance in SOFT_DISABLING state @@ -568,9 +551,7 @@ class Controls: else: self.state = State.enabled self.current_alert_types.append(ET.ENABLE) - if not self.CP.pcmCruise: - self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last) - self.v_cruise_cluster_kph = self.v_cruise_kph + self.v_cruise_helper.initialize_v_cruise(CS) # Check if openpilot is engaged and actuators are enabled self.enabled = self.state in ENABLED_STATES @@ -618,7 +599,7 @@ class Controls: if not self.joystick_mode: # accel PID loop - pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_kph * CV.KPH_TO_MS) + pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS) t_since_plan = (self.sm.frame - self.sm.rcv_frame['longitudinalPlan']) * DT_CTRL actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan) @@ -682,16 +663,6 @@ class Controls: return CC, lac_log - def update_button_timers(self, buttonEvents): - # increment timer for buttons still pressed - for k in self.button_timers: - if self.button_timers[k] > 0: - self.button_timers[k] += 1 - - for b in buttonEvents: - if b.type.raw in self.button_timers: - self.button_timers[b.type.raw] = 1 if b.pressed else 0 - def publish_logs(self, CS, start_time, CC, lac_log): """Send actuators and hud commands to the car, send controlsstate and MPC logging""" @@ -714,7 +685,7 @@ class Controls: CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1 hudControl = CC.hudControl - hudControl.setSpeed = float(self.v_cruise_cluster_kph * CV.KPH_TO_MS) + hudControl.setSpeed = float(self.v_cruise_helper.v_cruise_cluster_kph * CV.KPH_TO_MS) hudControl.speedVisible = self.enabled hudControl.lanesVisible = self.enabled hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead @@ -797,8 +768,8 @@ class Controls: controlsState.engageable = not self.events.any(ET.NO_ENTRY) controlsState.longControlState = self.LoC.long_control_state controlsState.vPid = float(self.LoC.v_pid) - controlsState.vCruise = float(self.v_cruise_kph) - controlsState.vCruiseCluster = float(self.v_cruise_cluster_kph) + controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph) + controlsState.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph) controlsState.upAccelCmd = float(self.LoC.pid.p) controlsState.uiAccelCmd = float(self.LoC.pid.i) controlsState.ufAccelCmd = float(self.LoC.pid.f) @@ -879,7 +850,6 @@ class Controls: self.publish_logs(CS, start_time, CC, lac_log) self.prof.checkpoint("Sent") - self.update_button_timers(CS.buttonEvents) self.CS_prev = CS def controlsd_thread(self): @@ -888,6 +858,7 @@ class Controls: self.rk.monitor_time() self.prof.display() + def main(sm=None, pm=None, logcan=None): controls = Controls(sm, pm, logcan) controls.controlsd_thread() diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index e74be7199e..bdbdb7023a 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -22,6 +22,7 @@ CAR_ROTATION_RADIUS = 0.0 # EU guidelines MAX_LATERAL_JERK = 5.0 +ButtonEvent = car.CarState.ButtonEvent ButtonType = car.CarState.ButtonEvent.Type CRUISE_LONG_PRESS = 50 CRUISE_NEAREST_FUNC = { @@ -34,68 +35,122 @@ CRUISE_INTERVAL_SIGN = { } -def apply_deadzone(error, deadzone): - if error > deadzone: - error -= deadzone - elif error < - deadzone: - error += deadzone - else: - error = 0. - return error - - -def rate_limit(new_value, last_value, dw_step, up_step): - return clip(new_value, last_value + dw_step, last_value + up_step) - +class VCruiseHelper: + def __init__(self, CP): + self.CP = CP + self.v_cruise_kph = V_CRUISE_INITIAL + self.v_cruise_cluster_kph = V_CRUISE_INITIAL + self.v_cruise_kph_last = 0 + self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0} + self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers} + + @property + def v_cruise_initialized(self): + return self.v_cruise_kph != V_CRUISE_INITIAL + + def update_v_cruise(self, CS, enabled, is_metric): + self.v_cruise_kph_last = self.v_cruise_kph + + if CS.cruiseState.available: + if not self.CP.pcmCruise: + # if stock cruise is completely disabled, then we can use our own set speed logic + self._update_v_cruise_non_pcm(CS, enabled, is_metric) + self.v_cruise_cluster_kph = self.v_cruise_kph + self.update_button_timers(CS, enabled) + else: + self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH + self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH + else: + self.v_cruise_kph = V_CRUISE_INITIAL + self.v_cruise_cluster_kph = V_CRUISE_INITIAL + + def _update_v_cruise_non_pcm(self, CS, enabled, is_metric): + # handle button presses. TODO: this should be in state_control, but a decelCruise press + # would have the effect of both enabling and changing speed is checked after the state transition + if not enabled: + return + + long_press = False + button_type = None + + # should be CV.MPH_TO_KPH, but this causes rounding errors + v_cruise_delta = 1. if is_metric else 1.6 + + for b in CS.buttonEvents: + if b.type.raw in self.button_timers and not b.pressed: + if self.button_timers[b.type.raw] > CRUISE_LONG_PRESS: + return # end long press + button_type = b.type.raw + break + else: + for k in self.button_timers.keys(): + if self.button_timers[k] and self.button_timers[k] % CRUISE_LONG_PRESS == 0: + button_type = k + long_press = True + break -def update_v_cruise(v_cruise_kph, v_ego, gas_pressed, buttonEvents, button_timers, enabled, metric): - # handle button presses. TODO: this should be in state_control, but a decelCruise press - # would have the effect of both enabling and changing speed is checked after the state transition - if not enabled: - return v_cruise_kph + if button_type is None: + return - long_press = False - button_type = None + # Don't adjust speed when pressing resume to exit standstill + cruise_standstill = self.button_change_states[button_type]["standstill"] or CS.cruiseState.standstill + if button_type == ButtonType.accelCruise and cruise_standstill: + return - # should be CV.MPH_TO_KPH, but this causes rounding errors - v_cruise_delta = 1. if metric else 1.6 + # Don't adjust speed if we've enabled since the button was depressed (some ports enable on rising edge) + if not self.button_change_states[button_type]["enabled"]: + return - for b in buttonEvents: - if b.type.raw in button_timers and not b.pressed: - if button_timers[b.type.raw] > CRUISE_LONG_PRESS: - return v_cruise_kph # end long press - button_type = b.type.raw - break - else: - for k in button_timers.keys(): - if button_timers[k] and button_timers[k] % CRUISE_LONG_PRESS == 0: - button_type = k - long_press = True - break - - if button_type: v_cruise_delta = v_cruise_delta * (5 if long_press else 1) - if long_press and v_cruise_kph % v_cruise_delta != 0: # partial interval - v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](v_cruise_kph / v_cruise_delta) * v_cruise_delta + if long_press and self.v_cruise_kph % v_cruise_delta != 0: # partial interval + self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta else: - v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type] + self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type] # If set is pressed while overriding, clip cruise speed to minimum of vEgo - if gas_pressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise): - v_cruise_kph = max(v_cruise_kph, v_ego * CV.MS_TO_KPH) + if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise): + self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH) + + self.v_cruise_kph = clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX) - v_cruise_kph = clip(round(v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX) + def update_button_timers(self, CS, enabled): + # increment timer for buttons still pressed + for k in self.button_timers: + if self.button_timers[k] > 0: + self.button_timers[k] += 1 - return v_cruise_kph + for b in CS.buttonEvents: + if b.type.raw in self.button_timers: + # Start/end timer and store current state on change of button pressed + self.button_timers[b.type.raw] = 1 if b.pressed else 0 + self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled} + def initialize_v_cruise(self, CS): + # initializing is handled by the PCM + if self.CP.pcmCruise: + return -def initialize_v_cruise(v_ego, buttonEvents, v_cruise_last): - for b in buttonEvents: # 250kph or above probably means we never had a set speed - if b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) and v_cruise_last < 250: - return v_cruise_last + if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_kph_last < 250: + self.v_cruise_kph = self.v_cruise_kph_last + else: + self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN, V_CRUISE_MAX))) + + self.v_cruise_cluster_kph = self.v_cruise_kph + - return int(round(clip(v_ego * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN, V_CRUISE_MAX))) +def apply_deadzone(error, deadzone): + if error > deadzone: + error -= deadzone + elif error < - deadzone: + error += deadzone + else: + error = 0. + return error + + +def rate_limit(new_value, last_value, dw_step, up_step): + return clip(new_value, last_value + dw_step, last_value + up_step) def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 44426620e9..a761cceecb 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -597,6 +597,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { EventName.buttonCancel: { ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), + ET.NO_ENTRY: NoEntryAlert("Cancel Pressed"), }, EventName.brakeHold: { diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 080782ad0f..6b79813117 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -301,8 +301,10 @@ class LongitudinalMpc: return lead_xv def set_accel_limits(self, min_a, max_a): + # TODO this sets a max accel limit, but the minimum limit is only for cruise decel + # needs refactor self.cruise_min_a = min_a - self.cruise_max_a = max_a + self.max_a = max_a def update(self, carstate, radarstate, v_cruise, x, v, a, j): v_ego = self.x0[1] @@ -317,16 +319,17 @@ class LongitudinalMpc: lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1]) lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1]) + self.params[:,0] = MIN_ACCEL + self.params[:,1] = self.max_a + # Update in ACC mode or ACC/e2e blend if self.mode == 'acc': - self.params[:,0] = MIN_ACCEL - self.params[:,1] = self.cruise_max_a self.params[:,5] = LEAD_DANGER_FACTOR # Fake an obstacle for cruise, this ensures smooth acceleration to set speed # when the leads are no factor. v_lower = v_ego + (T_IDXS * self.cruise_min_a * 1.05) - v_upper = v_ego + (T_IDXS * self.cruise_max_a * 1.05) + v_upper = v_ego + (T_IDXS * self.max_a * 1.05) v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), v_lower, v_upper) @@ -338,9 +341,6 @@ class LongitudinalMpc: x[:], v[:], a[:], j[:] = 0.0, 0.0, 0.0, 0.0 elif self.mode == 'blended': - self.params[:,0] = MIN_ACCEL - self.params[:,1] = MAX_ACCEL - self.params[:,5] = 1.0 x_obstacles = np.column_stack([lead_0_obstacle, diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 2fa13bfb15..def0a1208a 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -10,7 +10,7 @@ from common.params import Params from common.realtime import DT_MDL from selfdrive.modeld.constants import T_IDXS from selfdrive.controls.lib.longcontrol import LongCtrlState -from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc +from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, MIN_ACCEL, MAX_ACCEL from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N from system.swaglog import cloudlog @@ -69,7 +69,8 @@ class LongitudinalPlanner: e2e = self.params.get_bool('ExperimentalMode') and self.CP.openpilotLongitudinalControl self.mpc.mode = 'blended' if e2e else 'acc' - def parse_model(self, model_msg, model_error): + @staticmethod + def parse_model(model_msg, model_error): if (len(model_msg.position.x) == 33 and len(model_msg.velocity.x) == 33 and len(model_msg.acceleration.x) == 33): @@ -103,8 +104,12 @@ class LongitudinalPlanner: # No change cost when user is controlling the speed, or when standstill prev_accel_constraint = not (reset_state or sm['carState'].standstill) - accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)] - accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP) + if self.mpc.mode == 'acc': + accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)] + accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP) + else: + accel_limits = [MIN_ACCEL, MAX_ACCEL] + accel_limits_turns = [MIN_ACCEL, MAX_ACCEL] if reset_state: self.v_desired_filter.x = v_ego diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py old mode 100644 new mode 100755 index ca070f1c3f..3d6f55931e --- a/selfdrive/controls/tests/test_cruise_speed.py +++ b/selfdrive/controls/tests/test_cruise_speed.py @@ -1,10 +1,17 @@ #!/usr/bin/env python3 -import unittest import numpy as np +from parameterized import parameterized_class +import unittest + +from selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MAX, V_CRUISE_ENABLE_MIN +from cereal import car +from common.conversions import Conversions as CV from common.params import Params +from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver +ButtonEvent = car.CarState.ButtonEvent +ButtonType = car.CarState.ButtonEvent.Type -from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver def run_cruise_simulation(cruise, t_end=20.): man = Maneuver( @@ -19,7 +26,7 @@ def run_cruise_simulation(cruise, t_end=20.): ) valid, output = man.evaluate() assert valid - return output[-1,3] + return output[-1, 3] class TestCruiseSpeed(unittest.TestCase): @@ -35,5 +42,87 @@ class TestCruiseSpeed(unittest.TestCase): self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s') +# TODO: test pcmCruise +@parameterized_class(('pcm_cruise',), [(False,)]) +class TestVCruiseHelper(unittest.TestCase): + def setUp(self): + self.CP = car.CarParams(pcmCruise=self.pcm_cruise) # pylint: disable=E1101 + self.v_cruise_helper = VCruiseHelper(self.CP) + self.reset_cruise_speed_state() + + def reset_cruise_speed_state(self): + # Two resets previous cruise speed + for _ in range(2): + self.v_cruise_helper.update_v_cruise(car.CarState(cruiseState={"available": False}), enabled=False, is_metric=False) + + def enable(self, v_ego): + # Simulates user pressing set with a current speed + self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego)) + + def test_adjust_speed(self): + """ + Asserts speed changes on falling edges of buttons. + """ + + self.enable(V_CRUISE_ENABLE_MIN * CV.KPH_TO_MS) + + for btn in (ButtonType.accelCruise, ButtonType.decelCruise): + for pressed in (True, False): + CS = car.CarState(cruiseState={"available": True}) + CS.buttonEvents = [ButtonEvent(type=btn, pressed=pressed)] + + self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False) + self.assertEqual(pressed, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last) + + def test_rising_edge_enable(self): + """ + Some car interfaces may enable on rising edge of a button, + ensure we don't adjust speed if enabled changes mid-press. + """ + + # NOTE: enabled is always one frame behind the result from button press in controlsd + for enabled, pressed in ((False, False), + (False, True), + (True, False)): + CS = car.CarState(cruiseState={"available": True}) + CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=pressed)] + self.v_cruise_helper.update_v_cruise(CS, enabled=enabled, is_metric=False) + if pressed: + self.enable(V_CRUISE_ENABLE_MIN * CV.KPH_TO_MS) + + # Expected diff on enabling. Speed should not change on falling edge of pressed + self.assertEqual(not pressed, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last) + + def test_resume_in_standstill(self): + """ + Asserts we don't increment set speed if user presses resume/accel to exit cruise standstill. + """ + + self.enable(0) + + for standstill in (True, False): + for pressed in (True, False): + CS = car.CarState(cruiseState={"available": True, "standstill": standstill}) + CS.buttonEvents = [ButtonEvent(type=ButtonType.accelCruise, pressed=pressed)] + self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False) + + # speed should only update if not at standstill and button falling edge + should_equal = standstill or pressed + self.assertEqual(should_equal, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last) + + def test_initialize_v_cruise(self): + """ + Asserts allowed cruise speeds on enabling with SET. + """ + + for v_ego in np.linspace(0, 100, 101): + self.reset_cruise_speed_state() + self.assertFalse(self.v_cruise_helper.v_cruise_initialized) + + self.enable(float(v_ego)) + self.assertTrue(V_CRUISE_ENABLE_MIN <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX) + self.assertTrue(self.v_cruise_helper.v_cruise_initialized) + + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py index 7ac2c5f506..6d4df0423a 100755 --- a/selfdrive/manager/test/test_manager.py +++ b/selfdrive/manager/test/test_manager.py @@ -4,6 +4,7 @@ import signal import time import unittest +from common.params import Params import selfdrive.manager.manager as manager from selfdrive.manager.process import DaemonProcess from selfdrive.manager.process_config import managed_processes @@ -20,6 +21,10 @@ class TestManager(unittest.TestCase): os.environ['PASSIVE'] = '0' HARDWARE.set_power_save(False) + # ensure clean CarParams + params = Params() + params.clear_all() + def tearDown(self): manager.manager_cleanup() @@ -40,6 +45,7 @@ class TestManager(unittest.TestCase): Ensure all processes exit cleanly when stopped. """ HARDWARE.set_power_save(False) + manager.manager_init() manager.manager_prepare() for p in ALL_PROCESSES: managed_processes[p].start() diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py index dad5d89844..071eaada12 100644 --- a/selfdrive/test/longitudinal_maneuvers/maneuver.py +++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py @@ -17,6 +17,7 @@ class Maneuver(): self.only_lead2 = kwargs.get("only_lead2", False) self.only_radar = kwargs.get("only_radar", False) self.ensure_start = kwargs.get("ensure_start", False) + self.enabled = kwargs.get("enabled", True) self.duration = duration self.title = title @@ -26,23 +27,24 @@ class Maneuver(): lead_relevancy=self.lead_relevancy, speed=self.speed, distance_lead=self.distance_lead, + enabled=self.enabled, only_lead2=self.only_lead2, only_radar=self.only_radar, ) valid = True logs = [] - while plant.current_time() < self.duration: - speed_lead = np.interp(plant.current_time(), self.breakpoints, self.speed_lead_values) - prob = np.interp(plant.current_time(), self.breakpoints, self.prob_lead_values) - cruise = np.interp(plant.current_time(), self.breakpoints, self.cruise_values) + while plant.current_time < self.duration: + speed_lead = np.interp(plant.current_time, self.breakpoints, self.speed_lead_values) + prob = np.interp(plant.current_time, self.breakpoints, self.prob_lead_values) + cruise = np.interp(plant.current_time, self.breakpoints, self.cruise_values) log = plant.step(speed_lead, prob, cruise) d_rel = log['distance_lead'] - log['distance'] if self.lead_relevancy else 200. v_rel = speed_lead - log['speed'] if self.lead_relevancy else 0. log['d_rel'] = d_rel log['v_rel'] = v_rel - logs.append(np.array([plant.current_time(), + logs.append(np.array([plant.current_time, log['distance'], log['distance_lead'], log['speed'], diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index e81510e9ba..c3af1eee03 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -10,11 +10,12 @@ from selfdrive.modeld.constants import T_IDXS from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU -class Plant(): + +class Plant: messaging_initialized = False def __init__(self, lead_relevancy=False, speed=0.0, distance_lead=2.0, - only_lead2=False, only_radar=False): + enabled=True, only_lead2=False, only_radar=False): self.rate = 1. / DT_MDL if not Plant.messaging_initialized: @@ -32,10 +33,11 @@ class Plant(): self.speeds = [] # lead car - self.distance_lead = distance_lead self.lead_relevancy = lead_relevancy - self.only_lead2=only_lead2 - self.only_radar=only_radar + self.distance_lead = distance_lead + self.enabled = enabled + self.only_lead2 = only_lead2 + self.only_radar = only_radar self.rk = Ratekeeper(self.rate, print_delay_threshold=100.0) self.ts = 1. / self.rate @@ -47,6 +49,7 @@ class Plant(): self.planner = LongitudinalPlanner(CarInterface.get_params(CAR.CIVIC), init_v=self.speed) + @property def current_time(self): return float(self.rk.frame) / self.rate @@ -104,9 +107,7 @@ class Plant(): acceleration.x = [float(x) for x in np.zeros_like(T_IDXS)] model.modelV2.acceleration = acceleration - - - control.controlsState.longControlState = LongCtrlState.pid + control.controlsState.longControlState = LongCtrlState.pid if self.enabled else LongCtrlState.off control.controlsState.vCruise = float(v_cruise * 3.6) car_state.carState.vEgo = float(self.speed) car_state.carState.standstill = self.speed < 0.01 @@ -141,7 +142,7 @@ class Plant(): # print at 5hz if (self.rk.frame % (self.rate // 5)) == 0: print("%2.2f sec %6.2f m %6.2f m/s %6.2f m/s2 lead_rel: %6.2f m %6.2f m/s" - % (self.current_time(), self.distance, self.speed, self.acceleration, d_rel, v_rel)) + % (self.current_time, self.distance, self.speed, self.acceleration, d_rel, v_rel)) # ******** update prevs ******** diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py index 7cc95b104a..e859952445 100755 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -10,7 +10,7 @@ from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver # TODO: make new FCW tests maneuvers = [ Maneuver( - 'approach stopped car at 20m/s, initial distance: 120m', + 'approach stopped car at 25m/s, initial distance: 120m', duration=20., initial_speed=25., lead_relevancy=True, @@ -118,6 +118,13 @@ maneuvers = [ breakpoints=[1., 10., 15.], ensure_start=True, ), + Maneuver( + 'cruising at 25 m/s while disabled', + duration=20., + initial_speed=25., + lead_relevancy=False, + enabled=False, + ), ] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index cac678ca1f..f35e23d45f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a36f7e2fd922fcadca6f8a3d777f4db787cba016 +aa2d370836588fd80b648dbed8d156765ec804d5 diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 0bbae22517..31c910a910 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -1004,11 +1004,11 @@ location set Experimental Mode - 실험 모드 + 실험적 모드 openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides which speed to drive, the set speed will only act as an upper bound. - + openpilot은 기본적으로 <b>안정적 모드</b>로 주행합니다. 실험적 모드는 안정적 모드에 준비되지 않은 <b>알파 수준 기능</b>을 활성화 합니다. 실험 모드의 특징은 아래에 나열되어 있습니다 <br> <h4>🌮 E2E 롱컨트롤 🌮</h4> 주행모델이 가속과 감속을 제어하도록 합니다. openpilot은 신호등과 정지표지판을 보고 멈추는 것을 포함하여 운전자가 생각하는것처럼 주행합니다. 주행 모델이 주행할 속도를 결정하므로 설정된 속도는 상한선으로만 작용합니다. openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. @@ -1016,7 +1016,7 @@ location set WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). - + 경고: openpilot 롱컨트롤은 실험적인 기능으로 차량의 자동긴급제동(AEB)를 비활성화합니다. diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 702702a8be..6a1d32f87a 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -1012,7 +1012,7 @@ trabalho definido openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides which speed to drive, the set speed will only act as an upper bound. - + openpilot por padrão funciona em <b>modo chill</b>. modo Experimental ativa <b>recursos de nível-alfa</b> que não estão prontos para o modo chill. Recursos experimentais estão listados abaixo: <br> <h4>🌮 Controle Longitudinal de Ponta a Ponta 🌮</h4> Deixe o modelo de condução controlar o acelerador e os freios. Uma vez que o modelo de condução decide qual velocidade dirigir, a velocidade definida só funcionará como um limite superior. openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. @@ -1020,7 +1020,7 @@ trabalho definido WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). - + ATENÇÃO: o controle longitudinal do openpilot é experimental para este carro e desativará a Frenagem Automática de Emergência (AEB). diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 0f6bc981cf..c9810597b5 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -60,11 +60,11 @@ Cellular Metered - + 行動網路 Prevent large data uploads when on a metered connection - + 防止使用行動網路上傳大量的數據 @@ -240,11 +240,11 @@ Reset - + 重設 Review - + 回顧 @@ -864,7 +864,7 @@ location set Uninstall - + 卸載 @@ -1004,19 +1004,19 @@ location set Experimental Mode - + 實驗模式 openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides which speed to drive, the set speed will only act as an upper bound. - + openpilot 默認以 <b>輕鬆模式</b> 駕駛。 實驗模式啟用了尚未準備好進入輕鬆模式的 <b>alpha 級功能</b>。 實驗功能如下： <br> <h4>🌮端到端縱向控制🌮</h4> 讓駕駛模型控制油門和剎車。 openpilot 將像人類一樣駕駛，包括紅燈和停車標誌時停車，因為是由駕駛模型來決定車速，所以定速的設定值只會作為上限。 openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. - + openpilot 默認使用汽車內置的主動巡航控制 (ACC)，而不是使用 openpilot 縱向控制。啟用此選項可切換到 openpilot 縱向控制。 WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). - + 警告：openpilot 縱向控制在這輛車上仍屬實驗性質，啟用後會喪失自動緊急煞車 (AEB) 功能。 @@ -1074,7 +1074,7 @@ location set Forget - + 清除 diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 8534c8a978..7876b1af1f 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -1,9 +1,9 @@ [ { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-57626d7737ab2fa1318e8707a202b1295b5da79ad2fa0a36377cc9481ad0d136.img.xz", - "hash": "57626d7737ab2fa1318e8707a202b1295b5da79ad2fa0a36377cc9481ad0d136", - "hash_raw": "57626d7737ab2fa1318e8707a202b1295b5da79ad2fa0a36377cc9481ad0d136", + "url": "https://commadist.azureedge.net/agnosupdate/boot-72662ec5d586c7a22659a1c8b140932d5472914176020fe76ba4204edbbb214a.img.xz", + "hash": "72662ec5d586c7a22659a1c8b140932d5472914176020fe76ba4204edbbb214a", + "hash_raw": "72662ec5d586c7a22659a1c8b140932d5472914176020fe76ba4204edbbb214a", "size": 14780416, "sparse": false, "full_check": true, @@ -41,9 +41,9 @@ }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-b40b08912576bb972907acba7c201c1399395cbc0cba06ce6e5e3f70ab565cb5.img.xz", - "hash": "6e8fbcc21a265f7f58062abce7675dc05540e2b60cee2df56992a151ba64936f", - "hash_raw": "b40b08912576bb972907acba7c201c1399395cbc0cba06ce6e5e3f70ab565cb5", + "url": "https://commadist.azureedge.net/agnosupdate/system-9efdc9368f05e06008a7a1dbbee21b564e89988dc94d6ddee3a3a88e42268f0e.img.xz", + "hash": "48209ce7e8cc2fff4ec024f0cd82fc2e3e097b5c0629be2b292acf64e6701449", + "hash_raw": "9efdc9368f05e06008a7a1dbbee21b564e89988dc94d6ddee3a3a88e42268f0e", "size": 10737418240, "sparse": true, "full_check": false, diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index c5b931ddae..e2fd20c1be 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -431,9 +431,6 @@ class Tici(HardwareBase): def initialize_hardware(self): self.amplifier.initialize_configuration() - # TODO: this should go in AGNOS - os.system("sudo chmod 666 /dev/spidev0.0") - # Allow thermald to write engagement status to kmsg os.system("sudo chmod a+w /dev/kmsg") diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index b7321e1f8d..3ff4862800 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -19,7 +19,7 @@ prev_moc_path = cabana_env['QT_MOCHPREFIX'] cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_' cabana_env.Execute('./generate_dbc_json.py --out car_fingerprint_to_dbc.json') cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', - 'canmessages.cc', 'messageswidget.cc', 'settings.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) + 'canmessages.cc', 'commands.cc', 'messageswidget.cc', 'settings.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) cabana_env.Program('_cabana', ['cabana.cc', cabana_lib], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) if GetOption('test'): diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 678fe5f876..bcd2b88a81 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -165,14 +165,14 @@ void BinaryViewModel::setMessage(const QString &message_id) { if ((dbc_msg = dbc()->msg(msg_id))) { row_count = dbc_msg->size; items.resize(row_count * column_count); - for (int i = 0; i < dbc_msg->sigs.size(); ++i) { - const auto &sig = dbc_msg->sigs[i]; + int i = 0; + for (auto &[name, sig] : dbc_msg->sigs) { auto [start, end] = getSignalRange(&sig); for (int j = start; j <= end; ++j) { int bit_index = sig.is_little_endian ? bigEndianBitIndex(j) : j; int idx = column_count * (bit_index / 8) + bit_index % 8; if (idx >= items.size()) { - qWarning() << "signal " << sig.name.c_str() << "out of bounds.start_bit:" << sig.start_bit << "size:" << sig.size; + qWarning() << "signal " << name << "out of bounds.start_bit:" << sig.start_bit << "size:" << sig.size; break; } if (j == start) sig.is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true; @@ -180,6 +180,7 @@ void BinaryViewModel::setMessage(const QString &message_id) { items[idx].bg_color = getColor(i); items[idx].sigs.push_back(&sig); } + ++i; } } else { row_count = can->lastMessage(msg_id).dat.size(); diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 05bfe7e79f..2d6fc5c18b 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -50,7 +50,7 @@ public: private: QString msg_id; - const Msg *dbc_msg; + const DBCMsg *dbc_msg; int row_count = 0; const int column_count = 9; }; diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index e670ee8c94..3bcaae4bbd 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -44,7 +44,7 @@ QList CANMessages::findSignalValues(const QString &id, const Signal *si for (auto &evt : *evts) { if (evt->which != cereal::Event::Which::CAN) continue; - for (auto c : evt->event.getCan()) { + for (const auto &c : evt->event.getCan()) { if (bus == c.getSrc() && address == c.getAddress()) { double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *signal); if ((flag == EQ && val == value) || (flag == LT && val < value) || (flag == GT && val > value)) { @@ -65,6 +65,7 @@ void CANMessages::process(QHash *messages) { emit updated(); emit msgsReceived(messages); delete messages; + processing = false; } bool CANMessages::eventFilter(const Event *event) { @@ -78,7 +79,7 @@ bool CANMessages::eventFilter(const Event *event) { } double current_sec = replay->currentSeconds(); - if (counters_begin_sec == 0) { + if (counters_begin_sec == 0 || counters_begin_sec >= current_sec) { counters.clear(); counters_begin_sec = current_sec; } @@ -94,7 +95,6 @@ bool CANMessages::eventFilter(const Event *event) { } CanData &data = list.emplace_front(); data.ts = current_sec; - data.bus_time = c.getBusTime(); data.dat.append((char *)c.getDat().begin(), c.getDat().size()); data.count = ++counters[id]; @@ -105,7 +105,9 @@ bool CANMessages::eventFilter(const Event *event) { } double ts = millis_since_boot(); - if ((ts - prev_update_ts) > (1000.0 / settings.fps)) { + if ((ts - prev_update_ts) > (1000.0 / settings.fps) && !processing) { + // delay posting CAN message if UI thread is busy + processing = true; prev_update_ts = ts; // use pointer to avoid data copy in queued connection. emit received(new_msgs.release()); @@ -120,7 +122,7 @@ const std::deque CANMessages::messages(const QString &id) { } void CANMessages::seekTo(double ts) { - replay->seekTo(ts, false); + replay->seekTo(std::max(double(0), ts), false); counters_begin_sec = 0; } diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index 5ee33bce0d..ff41edad54 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -16,7 +16,6 @@ struct CanData { double ts = 0.; uint32_t count = 0; uint32_t freq = 0; - uint16_t bus_time = 0; QByteArray dat; }; @@ -63,6 +62,7 @@ protected: Replay *replay = nullptr; std::mutex lock; std::atomic counters_begin_sec = 0; + std::atomic processing = false; QHash counters; QHash> received_msgs; }; diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 3a170bccdc..06387b3585 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -192,6 +192,8 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) chart->createDefaultAxes(); chart->legend()->hide(); chart->layout()->setContentsMargins(0, 0, 0, 0); + // top margin for title + chart->setMargins({0, 11, 0, 0}); line_marker = new QGraphicsLineItem(chart); line_marker->setZValue(chart->zValue() + 10); @@ -205,7 +207,6 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) item_group->setZValue(chart->zValue() + 10); // title - msg_title = new QGraphicsTextItem(chart); QToolButton *remove_btn = new QToolButton(); remove_btn->setText("X"); remove_btn->setAutoRaise(true); @@ -234,13 +235,11 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) void ChartView::resizeEvent(QResizeEvent *event) { QChartView::resizeEvent(event); - msg_title->setPos(11, 6); close_btn_proxy->setPos(event->size().width() - close_btn_proxy->size().width() - 11, 8); } void ChartView::updateTitle() { - chart()->setTitle(signal->name.c_str()); - msg_title->setHtml(tr("%1 %2").arg(dbc()->msg(id)->name.c_str()).arg(id)); + chart()->setTitle(tr("%1 %2 %3").arg(dbc()->msg(id)->name).arg(id).arg(signal->name.c_str())); } void ChartView::updateFromSettings() { @@ -248,7 +247,6 @@ void ChartView::updateFromSettings() { chart()->setTheme(settings.chart_theme == 0 ? QChart::ChartThemeLight : QChart::QChart::ChartThemeDark); auto color = chart()->titleBrush().color(); line_marker->setPen(QPen(color, 2)); - msg_title->setDefaultTextColor(color); } void ChartView::setRange(double min, double max, bool force_update) { @@ -265,6 +263,7 @@ void ChartView::adjustChartMargins() { if (chart()->plotArea().left() != aligned_pos) { const float left_margin = chart()->margins().left() + aligned_pos - chart()->plotArea().left(); chart()->setMargins(QMargins(left_margin, 11, 0, 0)); + updateLineMarker(can->currentSec()); } } @@ -290,7 +289,7 @@ void ChartView::updateSeries(const std::pair range) { double end_ns = (route_start_time + range.second) * 1e9; for (auto it = begin; it != events->end() && (*it)->mono_time <= end_ns; ++it) { if ((*it)->which == cereal::Event::Which::CAN) { - for (auto c : (*it)->event.getCan()) { + for (const auto &c : (*it)->event.getCan()) { if (bus == c.getSrc() && address == c.getAddress()) { auto dat = c.getDat(); double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *signal); diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index e32a6697ce..20c673a757 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -44,7 +44,7 @@ private: QGraphicsItemGroup *item_group; QGraphicsLineItem *line_marker, *track_line; QGraphicsEllipseItem *track_ellipse; - QGraphicsTextItem *value_text, *msg_title; + QGraphicsTextItem *value_text; QGraphicsProxyWidget *close_btn_proxy; QVector vals; }; diff --git a/tools/cabana/commands.cc b/tools/cabana/commands.cc new file mode 100644 index 0000000000..b3f5cb1c66 --- /dev/null +++ b/tools/cabana/commands.cc @@ -0,0 +1,75 @@ +#include "tools/cabana/commands.h" + +// EditMsgCommand + +EditMsgCommand::EditMsgCommand(const QString &id, const QString &title, int size, QUndoCommand *parent) + : id(id), new_title(title), new_size(size), QUndoCommand(parent) { + if (auto msg = dbc()->msg(id)) { + old_title = msg->name; + old_size = msg->size; + } + setText(QObject::tr("Edit message %1:%2").arg(DBCManager::parseId(id).second).arg(title)); +} + +void EditMsgCommand::undo() { + if (old_title.isEmpty()) + dbc()->removeMsg(id); + else + dbc()->updateMsg(id, old_title, old_size); +} + +void EditMsgCommand::redo() { + dbc()->updateMsg(id, new_title, new_size); +} + +// RemoveMsgCommand + +RemoveMsgCommand::RemoveMsgCommand(const QString &id, QUndoCommand *parent) : id(id), QUndoCommand(parent) { + if (auto msg = dbc()->msg(id)) { + message = *msg; + setText(QObject::tr("Remove message %1:%2").arg(DBCManager::parseId(id).second).arg(message.name)); + } +} + +void RemoveMsgCommand::undo() { + if (!message.name.isEmpty()) { + dbc()->updateMsg(id, message.name, message.size); + for (auto &[name, s] : message.sigs) + dbc()->addSignal(id, s); + } +} + +void RemoveMsgCommand::redo() { + if (!message.name.isEmpty()) + dbc()->removeMsg(id); +} + +// AddSigCommand + +AddSigCommand::AddSigCommand(const QString &id, const Signal &sig, QUndoCommand *parent) + : id(id), signal(sig), QUndoCommand(parent) { + setText(QObject::tr("Add signal %1 to %2").arg(sig.name.c_str()).arg(DBCManager::parseId(id).second)); +} + +void AddSigCommand::undo() { dbc()->removeSignal(id, signal.name.c_str()); } +void AddSigCommand::redo() { dbc()->addSignal(id, signal); } + +// RemoveSigCommand + +RemoveSigCommand::RemoveSigCommand(const QString &id, const Signal *sig, QUndoCommand *parent) + : id(id), signal(*sig), QUndoCommand(parent) { + setText(QObject::tr("Remove signal %1 from %2").arg(signal.name.c_str()).arg(DBCManager::parseId(id).second)); +} + +void RemoveSigCommand::undo() { dbc()->addSignal(id, signal); } +void RemoveSigCommand::redo() { dbc()->removeSignal(id, signal.name.c_str()); } + +// EditSignalCommand + +EditSignalCommand::EditSignalCommand(const QString &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent) + : id(id), old_signal(*sig), new_signal(new_sig), QUndoCommand(parent) { + setText(QObject::tr("Edit signal %1").arg(old_signal.name.c_str())); +} + +void EditSignalCommand::undo() { dbc()->updateSignal(id, new_signal.name.c_str(), old_signal); } +void EditSignalCommand::redo() { dbc()->updateSignal(id, old_signal.name.c_str(), new_signal); } diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h new file mode 100644 index 0000000000..7ea1f66653 --- /dev/null +++ b/tools/cabana/commands.h @@ -0,0 +1,63 @@ +#pragma once + +#include + +#include "tools/cabana/canmessages.h" +#include "tools/cabana/dbcmanager.h" + +class EditMsgCommand : public QUndoCommand { +public: + EditMsgCommand(const QString &id, const QString &title, int size, QUndoCommand *parent = nullptr); + void undo() override; + void redo() override; + +private: + const QString id; + QString old_title, new_title; + int old_size = 0, new_size = 0; +}; + +class RemoveMsgCommand : public QUndoCommand { +public: + RemoveMsgCommand(const QString &id, QUndoCommand *parent = nullptr); + void undo() override; + void redo() override; + +private: + const QString id; + DBCMsg message; +}; + +class AddSigCommand : public QUndoCommand { +public: + AddSigCommand(const QString &id, const Signal &sig, QUndoCommand *parent = nullptr); + void undo() override; + void redo() override; + +private: + const QString id; + Signal signal = {}; +}; + +class RemoveSigCommand : public QUndoCommand { +public: + RemoveSigCommand(const QString &id, const Signal *sig, QUndoCommand *parent = nullptr); + void undo() override; + void redo() override; + +private: + const QString id; + Signal signal = {}; +}; + +class EditSignalCommand : public QUndoCommand { +public: + EditSignalCommand(const QString &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent = nullptr); + void undo() override; + void redo() override; + +private: + const QString id; + Signal old_signal = {}; + Signal new_signal = {}; +}; diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index abdd9a08df..18f103d34c 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -10,32 +10,36 @@ DBCManager::~DBCManager() {} void DBCManager::open(const QString &dbc_file_name) { dbc = const_cast(dbc_lookup(dbc_file_name.toStdString())); - updateMsgMap(); - emit DBCFileChanged(); + initMsgMap(); } void DBCManager::open(const QString &name, const QString &content) { std::istringstream stream(content.toStdString()); dbc = const_cast(dbc_parse_from_stream(name.toStdString(), stream)); - updateMsgMap(); - emit DBCFileChanged(); + initMsgMap(); } -void DBCManager::updateMsgMap() { - msg_map.clear(); - for (auto &msg : dbc->msgs) - msg_map[msg.address] = &msg; +void DBCManager::initMsgMap() { + msgs.clear(); + for (auto &msg : dbc->msgs) { + auto &m = msgs[msg.address]; + m.name = msg.name.c_str(); + m.size = msg.size; + for (auto &s : msg.sigs) + m.sigs[QString::fromStdString(s.name)] = s; + } + emit DBCFileChanged(); } QString DBCManager::generateDBC() { if (!dbc) return {}; QString dbc_string; - for (auto &m : dbc->msgs) { - dbc_string += QString("BO_ %1 %2: %3 XXX\n").arg(m.address).arg(m.name.c_str()).arg(m.size); - for (auto &sig : m.sigs) { + for (auto &[address, m] : msgs) { + dbc_string += QString("BO_ %1 %2: %3 XXX\n").arg(address).arg(m.name).arg(m.size); + for (auto &[name, sig] : m.sigs) { dbc_string += QString(" SG_ %1 : %2|%3@%4%5 (%6,%7) [0|0] \"\" XXX\n") - .arg(sig.name.c_str()) + .arg(name) .arg(sig.start_bit) .arg(sig.size) .arg(sig.is_little_endian ? '1' : '0') @@ -49,48 +53,45 @@ QString DBCManager::generateDBC() { } void DBCManager::updateMsg(const QString &id, const QString &name, uint32_t size) { - auto [bus, address] = parseId(id); - if (auto m = const_cast(msg(address))) { - m->name = name.toStdString(); - m->size = size; - } else { - m = &dbc->msgs.emplace_back(Msg{.address = address, .name = name.toStdString(), .size = size}); - msg_map[address] = m; - } + auto [_, address] = parseId(id); + auto &m = msgs[address]; + m.name = name; + m.size = size; emit msgUpdated(address); } void DBCManager::removeMsg(const QString &id) { uint32_t address = parseId(id).second; - auto it = std::find_if(dbc->msgs.begin(), dbc->msgs.end(), [address](auto &m) { return m.address == address; }); - if (it != dbc->msgs.end()) { - dbc->msgs.erase(it); - updateMsgMap(); - emit msgRemoved(address); - } + msgs.erase(address); + emit msgRemoved(address); } void DBCManager::addSignal(const QString &id, const Signal &sig) { - if (Msg *m = const_cast(msg(id))) { - emit signalAdded(&m->sigs.emplace_back(sig)); + if (auto m = const_cast(msg(id))) { + auto &s = m->sigs[sig.name.c_str()]; + s = sig; + emit signalAdded(&s); } } void DBCManager::updateSignal(const QString &id, const QString &sig_name, const Signal &sig) { - if (Msg *m = const_cast(msg(id))) { - auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [=](auto &sig) { return sig_name == sig.name.c_str(); }); - if (it != m->sigs.end()) { - *it = sig; - emit signalUpdated(&(*it)); - } + if (auto m = const_cast(msg(id))) { + // change key name + QString new_name = QString::fromStdString(sig.name); + auto node = m->sigs.extract(sig_name); + node.key() = new_name; + auto it = m->sigs.insert(std::move(node)); + auto &s = m->sigs[new_name]; + s = sig; + emit signalUpdated(&s); } } void DBCManager::removeSignal(const QString &id, const QString &sig_name) { - if (Msg *m = const_cast(msg(id))) { - auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [=](auto &sig) { return sig_name == sig.name.c_str(); }); + if (auto m = const_cast(msg(id))) { + auto it = m->sigs.find(sig_name); if (it != m->sigs.end()) { - emit signalRemoved(&(*it)); + emit signalRemoved(&(it->second)); m->sigs.erase(it); } } @@ -164,3 +165,11 @@ std::pair getSignalRange(const Signal *s) { int to = from + s->size - 1; return {from, to}; } + +bool operator==(const Signal &l, const Signal &r) { + return l.name == r.name && l.size == r.size && + l.start_bit == r.start_bit && + l.msb == r.msb && l.lsb == r.lsb && + l.is_signed == r.is_signed && l.is_little_endian == r.is_little_endian && + l.factor == r.factor && l.offset == r.offset; +} diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index 81c723a20d..b1d2082969 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -1,9 +1,16 @@ #pragma once +#include #include - +#include #include "opendbc/can/common_dbc.h" +struct DBCMsg { + QString name; + uint32_t size; + std::map sigs; +}; + class DBCManager : public QObject { Q_OBJECT @@ -24,11 +31,11 @@ public: void updateMsg(const QString &id, const QString &name, uint32_t size); void removeMsg(const QString &id); - inline const DBC *getDBC() const { return dbc; } - inline const Msg *msg(const QString &id) const { return msg(parseId(id).second); } - inline const Msg *msg(uint32_t address) const { - auto it = msg_map.find(address); - return it != msg_map.end() ? it->second : nullptr; + inline const std::map &messages() const { return msgs; } + inline const DBCMsg *msg(const QString &id) const { return msg(parseId(id).second); } + inline const DBCMsg *msg(uint32_t address) const { + auto it = msgs.find(address); + return it != msgs.end() ? &it->second : nullptr; } signals: @@ -40,13 +47,15 @@ signals: void DBCFileChanged(); private: - void updateMsgMap(); + void initMsgMap(); DBC *dbc = nullptr; - std::unordered_map msg_map; + std::map msgs; }; // 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); @@ -54,5 +63,5 @@ std::pair getSignalRange(const Signal *s); DBCManager *dbc(); inline QString msgName(const QString &id, const char *def = "untitled") { auto msg = dbc()->msg(id); - return msg ? msg->name.c_str() : def; + return msg ? msg->name : def; } diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index f96b60847b..260c9dfec7 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -6,20 +6,22 @@ #include #include #include -#include #include "selfdrive/ui/qt/util.h" #include "tools/cabana/canmessages.h" +#include "tools/cabana/commands.h" #include "tools/cabana/dbcmanager.h" // DetailWidget DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) { + undo_stack = new QUndoStack(this); + QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); main_layout->setSpacing(0); - // tabbar + // tabbar tabbar = new QTabBar(this); tabbar->setTabsClosable(true); tabbar->setDrawBase(false); @@ -78,9 +80,8 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart container_layout->addWidget(binary_view); // signals - signals_container = new QWidget(this); - signals_container->setLayout(new QVBoxLayout); - container_layout->addWidget(signals_container); + signals_layout = new QVBoxLayout(); + container_layout->addLayout(signals_layout); // history log history_log = new HistoryLog(this); @@ -88,7 +89,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart QObject::connect(binary_view, &BinaryView::resizeSignal, this, &DetailWidget::resizeSignal); QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal); - QObject::connect(can, &CANMessages::updated, this, &DetailWidget::updateState); + QObject::connect(can, &CANMessages::msgsReceived, this, &DetailWidget::updateState); QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { dbcMsgChanged(); }); QObject::connect(tabbar, &QTabBar::customContextMenuRequested, this, &DetailWidget::showTabBarContextMenu); QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) { @@ -99,6 +100,10 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart QObject::connect(tabbar, &QTabBar::tabCloseRequested, tabbar, &QTabBar::removeTab); QObject::connect(charts, &ChartsWidget::chartOpened, [this](const QString &id, const Signal *sig) { updateChartState(id, sig, true); }); QObject::connect(charts, &ChartsWidget::chartClosed, [this](const QString &id, const Signal *sig) { updateChartState(id, sig, false); }); + QObject::connect(undo_stack, &QUndoStack::indexChanged, [this]() { + if (undo_stack->count() > 0) + dbcMsgChanged(); + }); } void DetailWidget::showTabBarContextMenu(const QPoint &pt) { @@ -107,103 +112,82 @@ void DetailWidget::showTabBarContextMenu(const QPoint &pt) { QMenu menu(this); menu.addAction(tr("Close Other Tabs")); if (menu.exec(tabbar->mapToGlobal(pt))) { - tabbar->setCurrentIndex(index); - // remove all tabs before the one to keep - for (int i = 0; i < index; ++i) { - tabbar->removeTab(0); - } - // remove all tabs after the one to keep - while (tabbar->count() > 1) { + tabbar->moveTab(index, 0); + tabbar->setCurrentIndex(0); + while (tabbar->count() > 1) tabbar->removeTab(1); - } } } } void DetailWidget::setMessage(const QString &message_id) { - if (message_id.isEmpty()) return; - - int index = -1; - for (int i = 0; i < tabbar->count(); ++i) { - if (tabbar->tabText(i) == message_id) { - index = i; - break; - } - } msg_id = message_id; + int index = tabbar->count() - 1; + for (/**/; index >= 0 && tabbar->tabText(index) != msg_id; --index) { /**/ } if (index == -1) { index = tabbar->addTab(message_id); tabbar->setTabToolTip(index, msgName(message_id)); } tabbar->setCurrentIndex(index); dbcMsgChanged(); + scroll->verticalScrollBar()->setValue(0); } void DetailWidget::dbcMsgChanged(int show_form_idx) { if (msg_id.isEmpty()) return; setUpdatesEnabled(false); - QStringList warnings; - for (auto f : signal_list) f->hide(); - const Msg *msg = dbc()->msg(msg_id); + binary_view->setMessage(msg_id); + history_log->setMessage(msg_id); + + int i = 0; + QStringList warnings; + const DBCMsg *msg = dbc()->msg(msg_id); if (msg) { - for (int i = 0; i < msg->sigs.size(); ++i) { + for (auto &[name, sig] : msg->sigs) { SignalEdit *form = i < signal_list.size() ? signal_list[i] : nullptr; if (!form) { form = new SignalEdit(i); - QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showForm); QObject::connect(form, &SignalEdit::remove, this, &DetailWidget::removeSignal); QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal); QObject::connect(form, &SignalEdit::highlight, binary_view, &BinaryView::highlight); QObject::connect(binary_view, &BinaryView::signalHovered, form, &SignalEdit::signalHovered); QObject::connect(form, &SignalEdit::showChart, charts, &ChartsWidget::showChart); - signals_container->layout()->addWidget(form); + signals_layout->addWidget(form); signal_list.push_back(form); } - form->setSignal(msg_id, &(msg->sigs[i]), i == show_form_idx); - form->setChartOpened(charts->isChartOpened(msg_id, &(msg->sigs[i]))); - form->show(); + form->setSignal(msg_id, &sig); + form->setChartOpened(charts->isChartOpened(msg_id, &sig)); + ++i; } if (msg->size != can->lastMessage(msg_id).dat.size()) warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size)); } + for (/**/; i < signal_list.size(); ++i) + signal_list[i]->hide(); toolbar->setVisible(!msg_id.isEmpty()); remove_msg_act->setEnabled(msg != nullptr); name_label->setText(msgName(msg_id)); - binary_view->setMessage(msg_id); - history_log->setMessage(msg_id); - - // Check overlapping bits - if (auto overlapping = binary_view->getOverlappingSignals(); !overlapping.isEmpty()) { - for (auto s : overlapping) - warnings.push_back(tr("%1 has overlapping bits.").arg(s->name.c_str())); - } + for (auto s : binary_view->getOverlappingSignals()) + warnings.push_back(tr("%1 has overlapping bits.").arg(s->name.c_str())); warning_label->setText(warnings.join('\n')); warning_widget->setVisible(!warnings.isEmpty()); - setUpdatesEnabled(true); - scroll->verticalScrollBar()->setValue(0); + QTimer::singleShot(1, [this]() { setUpdatesEnabled(true); }); } -void DetailWidget::updateState() { +void DetailWidget::updateState(const QHash * msgs) { time_label->setText(QString::number(can->currentSec(), 'f', 3)); - if (msg_id.isEmpty()) return; + if (!msgs->contains(msg_id)) + return; binary_view->updateState(); history_log->updateState(); } -void DetailWidget::showForm() { - SignalEdit *sender = qobject_cast(QObject::sender()); - setUpdatesEnabled(false); - for (auto f : signal_list) - f->setFormVisible(f == sender && !f->isFormVisible()); - QTimer::singleShot(1, [this]() { setUpdatesEnabled(true); }); -} - void DetailWidget::updateChartState(const QString &id, const Signal *sig, bool opened) { for (auto f : signal_list) if (f->msg_id == id && f->sig == sig) f->setChartOpened(opened); @@ -215,45 +199,34 @@ void DetailWidget::editMsg() { int size = msg ? msg->size : can->lastMessage(id).dat.size(); EditMessageDialog dlg(id, msgName(id), size, this); if (dlg.exec()) { - dbc()->updateMsg(id, dlg.name_edit->text(), dlg.size_spin->value()); - dbcMsgChanged(); + undo_stack->push(new EditMsgCommand(msg_id, dlg.name_edit->text(), dlg.size_spin->value())); } } void DetailWidget::removeMsg() { - QString id = msg_id; - if (auto msg = dbc()->msg(id)) { - QString text = tr("Are you sure you want to remove '%1'").arg(msg->name.c_str()); - if (QMessageBox::Yes == QMessageBox::question(this, tr("Remove Message"), text)) { - dbc()->removeMsg(id); - dbcMsgChanged(); - } - } + undo_stack->push(new RemoveMsgCommand(msg_id)); } void DetailWidget::addSignal(int start_bit, int size, bool little_endian) { auto msg = dbc()->msg(msg_id); if (!msg) { for (int i = 1; /**/; ++i) { - std::string name = "NEW_MSG_" + std::to_string(i); - auto it = std::find_if(dbc()->getDBC()->msgs.begin(), dbc()->getDBC()->msgs.end(), [&](auto &m) { return m.name == name; }); - if (it == dbc()->getDBC()->msgs.end()) { - dbc()->updateMsg(msg_id, name.c_str(), can->lastMessage(msg_id).dat.size()); + QString name = QString("NEW_MSG_%1").arg(i); + auto it = std::find_if(dbc()->messages().begin(), dbc()->messages().end(), [&](auto &m) { return m.second.name == name; }); + if (it == dbc()->messages().end()) { + undo_stack->push(new EditMsgCommand(msg_id, name, can->lastMessage(msg_id).dat.size())); msg = dbc()->msg(msg_id); break; } } } - Signal sig = {}; + Signal sig = {.is_little_endian = little_endian}; for (int i = 1; /**/; ++i) { sig.name = "NEW_SIGNAL_" + std::to_string(i); - auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [&](auto &s) { return sig.name == s.name; }); - if (it == msg->sigs.end()) break; + if (msg->sigs.count(sig.name.c_str()) == 0) break; } - sig.is_little_endian = little_endian; updateSigSizeParamsFromRange(sig, start_bit, size); - dbc()->addSignal(msg_id, sig); - dbcMsgChanged(msg->sigs.size() - 1); + undo_stack->push(new AddSigCommand(msg_id, sig)); } void DetailWidget::resizeSignal(const Signal *sig, int start_bit, int size) { @@ -265,14 +238,13 @@ void DetailWidget::resizeSignal(const Signal *sig, int start_bit, int size) { void DetailWidget::saveSignal(const Signal *sig, const Signal &new_sig) { auto msg = dbc()->msg(msg_id); if (new_sig.name != sig->name) { - auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [&](auto &s) { return s.name == new_sig.name; }); + auto it = msg->sigs.find(new_sig.name.c_str()); if (it != msg->sigs.end()) { QString warning_str = tr("There is already a signal with the same name '%1'").arg(new_sig.name.c_str()); QMessageBox::warning(this, tr("Failed to save signal"), warning_str); return; } } - auto [start, end] = getSignalRange(&new_sig); if (start < 0 || end >= msg->size * 8) { QString warning_str = tr("Signal size [%1] exceed limit").arg(new_sig.size); @@ -280,16 +252,11 @@ void DetailWidget::saveSignal(const Signal *sig, const Signal &new_sig) { return; } - dbc()->updateSignal(msg_id, sig->name.c_str(), new_sig); - dbcMsgChanged(); + undo_stack->push(new EditSignalCommand(msg_id, sig, new_sig)); } void DetailWidget::removeSignal(const Signal *sig) { - QString text = tr("Are you sure you want to remove signal '%1'").arg(sig->name.c_str()); - if (QMessageBox::Yes == QMessageBox::question(this, tr("Remove signal"), text)) { - dbc()->removeSignal(msg_id, sig->name.c_str()); - dbcMsgChanged(); - } + undo_stack->push(new RemoveSigCommand(msg_id, sig)); } // EditMessageDialog @@ -300,6 +267,7 @@ EditMessageDialog::EditMessageDialog(const QString &msg_id, const QString &title form_layout->addRow("ID", new QLabel(msg_id)); name_edit = new QLineEdit(title, this); + name_edit->setValidator(new QRegExpValidator(QRegExp("^(\\w+)"), name_edit)); form_layout->addRow(tr("Name"), name_edit); size_spin = new QSpinBox(this); diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 915e0bde60..5fc6d122fe 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -3,6 +3,7 @@ #include #include #include +#include #include "tools/cabana/binaryview.h" #include "tools/cabana/chartswidget.h" @@ -10,8 +11,6 @@ #include "tools/cabana/signaledit.h" class EditMessageDialog : public QDialog { - Q_OBJECT - public: EditMessageDialog(const QString &msg_id, const QString &title, int size, QWidget *parent); @@ -26,6 +25,7 @@ public: DetailWidget(ChartsWidget *charts, QWidget *parent); void setMessage(const QString &message_id); void dbcMsgChanged(int show_form_idx = -1); + QUndoStack *undo_stack = nullptr; private: void updateChartState(const QString &id, const Signal *sig, bool opened); @@ -36,13 +36,12 @@ private: void removeSignal(const Signal *sig); void editMsg(); void removeMsg(); - void showForm(); - void updateState(); + void updateState(const QHash * msgs); QString msg_id; QLabel *name_label, *time_label, *warning_label; QWidget *warning_widget; - QWidget *signals_container; + QVBoxLayout *signals_layout; QTabBar *tabbar; QToolBar *toolbar; QAction *remove_msg_act; diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 4b1818cf68..28e344a46e 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -4,6 +4,10 @@ // HistoryLogModel +inline const Signal &get_signal(const DBCMsg *m, int index) { + return std::next(m->sigs.begin(), index)->second; +} + QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { bool has_signal = dbc_msg && !dbc_msg->sigs.empty(); if (role == Qt::DisplayRole) { @@ -11,7 +15,7 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { if (index.column() == 0) { return QString::number(m.ts, 'f', 2); } - return has_signal ? QString::number(get_raw_value((uint8_t *)m.dat.begin(), m.dat.size(), dbc_msg->sigs[index.column() - 1])) + return has_signal ? QString::number(get_raw_value((uint8_t *)m.dat.begin(), m.dat.size(), get_signal(dbc_msg, index.column() - 1))) : toHex(m.dat); } else if (role == Qt::FontRole && index.column() == 1 && !has_signal) { return QFontDatabase::systemFont(QFontDatabase::FixedFont); @@ -37,7 +41,7 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i if (section == 0) { return "Time"; } - return has_signal ? QString::fromStdString(dbc_msg->sigs[section - 1].name).replace('_', ' ') : "Data"; + return has_signal ? QString::fromStdString(get_signal(dbc_msg, section - 1).name).replace('_', ' ') : "Data"; } else if (role == Qt::BackgroundRole && section > 0 && has_signal) { return QBrush(QColor(getColor(section - 1))); } diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index e8b0f5a35b..21be8fc129 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -28,7 +28,7 @@ private: QString msg_id; int row_count = 0; int column_count = 2; - const Msg *dbc_msg = nullptr; + const DBCMsg *dbc_msg = nullptr; std::deque messages; }; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 9b85ba7e8d..97d62cb4f4 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -1,5 +1,6 @@ #include "tools/cabana/mainwin.h" +#include #include #include #include @@ -12,12 +13,15 @@ #include #include #include +#include #include +#include #include "tools/replay/util.h" static MainWindow *main_win = nullptr; void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) { + if (type == QtDebugMsg) std::cout << msg.toStdString() << std::endl; if (main_win) emit main_win->showMessage(msg, 0); } @@ -41,9 +45,7 @@ MainWindow::MainWindow() : QMainWindow() { dbc_combo->addItem(QString::fromStdString(name)); } dbc_combo->model()->sort(0); - dbc_combo->setEditable(true); dbc_combo->setInsertPolicy(QComboBox::NoInsert); - dbc_combo->completer()->setCompletionMode(QCompleter::PopupCompletion); messages_layout->addWidget(dbc_combo); messages_widget = new MessagesWidget(this); @@ -102,9 +104,13 @@ MainWindow::MainWindow() : QMainWindow() { QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::rangeChanged); QObject::connect(can, &CANMessages::streamStarted, this, &MainWindow::loadDBCFromFingerprint); QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { + detail_widget->undo_stack->clear(); dbc_combo->setCurrentText(QFileInfo(dbc()->name()).baseName()); setWindowTitle(tr("%1 - Cabana").arg(dbc()->name())); }); + QObject::connect(detail_widget->undo_stack, &QUndoStack::indexChanged, [this](int index) { + setWindowTitle(tr("%1%2 - Cabana").arg(index > 0 ? "* " : "").arg(dbc()->name())); + }); } void MainWindow::createActions() { @@ -116,6 +122,23 @@ void MainWindow::createActions() { file_menu->addAction(tr("Copy DBC To Clipboard"), this, &MainWindow::saveDBCToClipboard); file_menu->addSeparator(); file_menu->addAction(tr("Settings..."), this, &MainWindow::setOption); + + QMenu *edit_menu = menuBar()->addMenu(tr("&Edit")); + auto undo_act = detail_widget->undo_stack->createUndoAction(this, tr("&Undo")); + undo_act->setShortcuts(QKeySequence::Undo); + edit_menu->addAction(undo_act); + auto redo_act = detail_widget->undo_stack->createRedoAction(this, tr("&Rndo")); + redo_act->setShortcuts(QKeySequence::Redo); + edit_menu->addAction(redo_act); + edit_menu->addSeparator(); + + QMenu *commands_menu = edit_menu->addMenu(tr("Command &List")); + auto undo_view = new QUndoView(detail_widget->undo_stack); + undo_view->setWindowTitle(tr("Command List")); + QWidgetAction *commands_act = new QWidgetAction(this); + commands_act->setDefaultWidget(undo_view); + commands_menu->addAction(commands_act); + QMenu *help_menu = menuBar()->addMenu(tr("&Help")); help_menu->addAction(tr("About &Qt"), qApp, &QApplication::aboutQt); } @@ -135,8 +158,9 @@ void MainWindow::loadDBCFromName(const QString &name) { } void MainWindow::loadDBCFromFile() { - QString file_name = QFileDialog::getOpenFileName(this, tr("Open File"), QDir::homePath(), "DBC (*.dbc)"); + QString file_name = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)"); if (!file_name.isEmpty()) { + settings.last_dir = QFileInfo(file_name).absolutePath(); QFile file(file_name); if (file.open(QIODevice::ReadOnly)) { auto dbc_name = QFileInfo(file_name).baseName(); @@ -164,11 +188,13 @@ void MainWindow::loadDBCFromFingerprint() { void MainWindow::saveDBCToFile() { QString file_name = QFileDialog::getSaveFileName(this, tr("Save File"), - QDir::homePath() + "/untitled.dbc", tr("DBC (*.dbc)")); + QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)")); if (!file_name.isEmpty()) { + settings.last_dir = QFileInfo(file_name).absolutePath(); QFile file(file_name); if (file.open(QIODevice::WriteOnly)) file.write(dbc()->generateDBC().toUtf8()); + detail_widget->undo_stack->clear(); } } @@ -204,9 +230,21 @@ void MainWindow::dockCharts(bool dock) { } void MainWindow::closeEvent(QCloseEvent *event) { + if (detail_widget->undo_stack->index() > 0) { + auto ret = QMessageBox::question(this, tr("Unsaved Changes"), + tr("Are you sure you want to exit without saving?\nAny unsaved changes will be lost."), + QMessageBox::Yes | QMessageBox::No); + if (ret == QMessageBox::No) { + event->ignore(); + return; + } + } + main_win = nullptr; if (floating_window) floating_window->deleteLater(); + + settings.save(); QWidget::closeEvent(event); } diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index b173b41df3..b3a4ed4872 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -1,6 +1,7 @@ #include "tools/cabana/settings.h" #include +#include #include #include @@ -19,7 +20,7 @@ void Settings::save() { s.setValue("chart_height", chart_height); s.setValue("chart_theme", chart_theme); s.setValue("max_chart_x_range", max_chart_x_range); - emit changed(); + s.setValue("last_dir", last_dir); } void Settings::load() { @@ -30,6 +31,7 @@ void Settings::load() { chart_height = s.value("chart_height", 200).toInt(); chart_theme = s.value("chart_theme", 0).toInt(); max_chart_x_range = s.value("max_chart_x_range", 3 * 60).toInt(); + last_dir = s.value("last_dir", QDir::homePath()).toString(); } // SettingsDlg @@ -90,4 +92,5 @@ void SettingsDlg::save() { settings.max_chart_x_range = max_chart_x_range->value() * 60; settings.save(); accept(); + emit settings.changed(); } diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index cb858de873..e08d0ae55e 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -18,6 +18,7 @@ public: int chart_height = 200; int chart_theme = 0; int max_chart_x_range = 3 * 60; // 3 minutes + QString last_dir; signals: void changed(); diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 99365294b8..8737154c16 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -1,12 +1,11 @@ #include "tools/cabana/signaledit.h" -#include #include #include #include -#include -#include #include +#include +#include #include #include "selfdrive/ui/qt/util.h" @@ -15,9 +14,9 @@ SignalForm::SignalForm(QWidget *parent) : QWidget(parent) { QFormLayout *form_layout = new QFormLayout(this); - form_layout->setContentsMargins(0, 0, 0, 0); name = new QLineEdit(); + name->setValidator(new QRegExpValidator(QRegExp("^(\\w+)"), name)); form_layout->addRow(tr("Name"), name); size = new QSpinBox(); @@ -58,6 +57,13 @@ SignalForm::SignalForm(QWidget *parent) : QWidget(parent) { form_layout->addRow(tr("Maximum value"), max_val); val_desc = new QLineEdit(); form_layout->addRow(tr("Value descriptions"), val_desc); + + QObject::connect(name, &QLineEdit::textEdited, this, &SignalForm::changed); + QObject::connect(factor, &QLineEdit::textEdited, this, &SignalForm::changed); + QObject::connect(offset, &QLineEdit::textEdited, this, &SignalForm::changed); + QObject::connect(sign, SIGNAL(activated(int)), SIGNAL(changed())); + QObject::connect(endianness, SIGNAL(activated(int)), SIGNAL(changed())); + QObject::connect(size, SIGNAL(valueChanged(int)), SIGNAL(changed())); } // SignalEdit @@ -65,38 +71,45 @@ SignalForm::SignalForm(QWidget *parent) : QWidget(parent) { SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); + main_layout->setSpacing(0); // title bar - QHBoxLayout *title_layout = new QHBoxLayout(); - icon = new QLabel(); + auto title_bar = new QWidget(this); + title_bar->setFixedHeight(32); + QHBoxLayout *title_layout = new QHBoxLayout(title_bar); + title_layout->setContentsMargins(0, 0, 0, 0); + title_bar->setStyleSheet("QToolButton {width:15px;height:15px;font-size:15px}"); + color_label = new QLabel(this); + color_label->setFixedWidth(25); + color_label->setContentsMargins(5, 0, 0, 0); + title_layout->addWidget(color_label); + icon = new QLabel(this); title_layout->addWidget(icon); title = new ElidedLabel(this); - title->setStyleSheet(QString("font-weight:bold; color:%1").arg(getColor(index))); - title_layout->addWidget(title, 1); + title->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); + title_layout->addWidget(title); - QPushButton *seek_btn = new QPushButton("⌕"); - seek_btn->setStyleSheet("QPushButton{font-weight:bold;font-size:18px}"); + plot_btn = new QToolButton(this); + plot_btn->setText("📈"); + plot_btn->setCheckable(true); + plot_btn->setAutoRaise(true); + title_layout->addWidget(plot_btn); + auto seek_btn = new QToolButton(this); + seek_btn->setIcon(QIcon::fromTheme("edit-find")); + seek_btn->setAutoRaise(true); seek_btn->setToolTip(tr("Find signal values")); - seek_btn->setFixedSize(25, 25); title_layout->addWidget(seek_btn); - - plot_btn = new QPushButton(this); - plot_btn->setStyleSheet("QPushButton {font-size:18px}"); - plot_btn->setFixedSize(25, 25); - title_layout->addWidget(plot_btn); - main_layout->addLayout(title_layout); + auto remove_btn = new QToolButton(this); + remove_btn->setAutoRaise(true); + remove_btn->setText("x"); + remove_btn->setToolTip(tr("Remove signal")); + title_layout->addWidget(remove_btn); + main_layout->addWidget(title_bar); // signal form - form_container = new QWidget(this); - QVBoxLayout *v_layout = new QVBoxLayout(form_container); - QHBoxLayout *h = new QHBoxLayout(); - QPushButton *remove_btn = new QPushButton(tr("Remove Signal")); - h->addWidget(remove_btn); - h->addStretch(); - QPushButton *save_btn = new QPushButton(tr("Save")); - h->addWidget(save_btn); - v_layout->addLayout(h); - main_layout->addWidget(form_container); + form = new SignalForm(this); + form->setVisible(false); + main_layout->addWidget(form); // bottom line QFrame *hline = new QFrame(); @@ -104,25 +117,27 @@ SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(pa hline->setFrameShadow(QFrame::Sunken); main_layout->addWidget(hline); - QObject::connect(remove_btn, &QPushButton::clicked, [this]() { emit remove(this->sig); }); QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked); - QObject::connect(save_btn, &QPushButton::clicked, this, &SignalEdit::saveSignal); - QObject::connect(plot_btn, &QPushButton::clicked, [this]() { emit showChart(msg_id, sig, !chart_opened); }); - QObject::connect(seek_btn, &QPushButton::clicked, [this]() { - SignalFindDlg dlg(msg_id, sig, this); - dlg.exec(); - }); + QObject::connect(plot_btn, &QToolButton::clicked, [this](bool checked) { emit showChart(msg_id, sig, checked); }); + QObject::connect(seek_btn, &QToolButton::clicked, [this]() { SignalFindDlg(msg_id, sig, this).exec(); }); + QObject::connect(remove_btn, &QToolButton::clicked, [this]() { emit remove(sig); }); + QObject::connect(form, &SignalForm::changed, this, &SignalEdit::saveSignal); setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); } -void SignalEdit::setSignal(const QString &message_id, const Signal *signal, bool show_form) { - msg_id = message_id; +void SignalEdit::setSignal(const QString &message_id, const Signal *signal) { sig = signal; - title->setText(QString("%1. %2").arg(form_idx + 1).arg(sig->name.c_str())); - setFormVisible(show_form); + updateForm(msg_id == message_id && form->isVisible()); + msg_id = message_id; + color_label->setText(QString::number(form_idx + 1)); + color_label->setStyleSheet(QString("background-color:%1").arg(getColor(form_idx))); + title->setText(sig->name.c_str()); + show(); } void SignalEdit::saveSignal() { + if (!sig || !form->changed_by_user) return; + Signal s = *sig; s.name = form->name->text().toStdString(); s.size = form->size->text().toInt(); @@ -148,38 +163,50 @@ void SignalEdit::saveSignal() { s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); s.msb = s.start_bit; } - title->setText(QString("%1. %2").arg(form_idx + 1).arg(form->name->text())); - emit save(this->sig, s); + if (s != *sig) + emit save(this->sig, s); } void SignalEdit::setChartOpened(bool opened) { - plot_btn->setText(opened ? "☒" : "📈"); - plot_btn->setToolTip(opened ? tr("Close Plot") :tr("Show Plot")); - chart_opened = opened; + plot_btn->setToolTip(opened ? tr("Close Plot") : tr("Show Plot")); + plot_btn->setChecked(opened); } -void SignalEdit::setFormVisible(bool visible) { - if (visible) { - if (!form) { - form = new SignalForm(this); - ((QVBoxLayout *)form_container->layout())->insertWidget(0, form); - } +void SignalEdit::updateForm(bool visible) { + if (visible && sig) { + form->changed_by_user = false; form->name->setText(sig->name.c_str()); - form->size->setValue(sig->size); form->endianness->setCurrentIndex(sig->is_little_endian ? 0 : 1); form->sign->setCurrentIndex(sig->is_signed ? 0 : 1); form->factor->setText(QString::number(sig->factor)); form->offset->setText(QString::number(sig->offset)); form->msb->setText(QString::number(sig->msb)); form->lsb->setText(QString::number(sig->lsb)); + form->size->setValue(sig->size); + form->changed_by_user = true; } - form_container->setVisible(visible); - icon->setText(visible ? "▼" : ">"); + form->setVisible(visible); + icon->setText(visible ? "▼ " : "> "); +} + +void SignalEdit::showFormClicked() { + parentWidget()->setUpdatesEnabled(false); + for (auto &edit : parentWidget()->findChildren()) + edit->updateForm(edit == this && !form->isVisible()); + QTimer::singleShot(1, [this]() { parentWidget()->setUpdatesEnabled(true); }); } void SignalEdit::signalHovered(const Signal *s) { - auto color = sig == s ? hoverColor(getColor(form_idx)) : QColor(getColor(form_idx)); - title->setStyleSheet(QString("font-weight:bold; color:%1").arg(color.name())); + auto bg_color = sig == s ? hoverColor(getColor(form_idx)) : QColor(getColor(form_idx)); + auto color = sig == s ? "white" : "black"; + color_label->setStyleSheet(QString("color:%1; background-color:%2").arg(color).arg(bg_color.name())); +} + +void SignalEdit::hideEvent(QHideEvent *event) { + msg_id = ""; + sig = nullptr; + updateForm(false); + QWidget::hideEvent(event); } void SignalEdit::enterEvent(QEvent *event) { @@ -204,7 +231,7 @@ SignalFindDlg::SignalFindDlg(const QString &id, const Signal *signal, QWidget *p comp_box->addItems({">", "=", "<"}); h->addWidget(comp_box); QLineEdit *value_edit = new QLineEdit("0", this); - value_edit->setValidator( new QDoubleValidator(-500000, 500000, 6, this) ); + value_edit->setValidator(new QDoubleValidator(-500000, 500000, 6, this)); h->addWidget(value_edit, 1); QPushButton *search_btn = new QPushButton(tr("Find"), this); h->addWidget(search_btn); diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index dce9d27479..335e49a869 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -4,8 +4,8 @@ #include #include #include -#include #include +#include #include "selfdrive/ui/qt/widgets/controls.h" @@ -13,13 +13,17 @@ #include "tools/cabana/dbcmanager.h" class SignalForm : public QWidget { + Q_OBJECT public: SignalForm(QWidget *parent); - QLineEdit *name, *unit, *comment, *val_desc, *offset, *factor, *min_val, *max_val; QLabel *lsb, *msb; QSpinBox *size; QComboBox *sign, *endianness; + bool changed_by_user = false; + + signals: + void changed(); }; class SignalEdit : public QWidget { @@ -27,38 +31,35 @@ class SignalEdit : public QWidget { public: SignalEdit(int index, QWidget *parent = nullptr); - void setSignal(const QString &msg_id, const Signal *sig, bool show_form); + void setSignal(const QString &msg_id, const Signal *sig); void setChartOpened(bool opened); - void setFormVisible(bool show); void signalHovered(const Signal *sig); - inline bool isFormVisible() const { return form_container->isVisible(); } const Signal *sig = nullptr; QString msg_id; signals: void highlight(const Signal *sig); void showChart(const QString &name, const Signal *sig, bool show); - void showFormClicked(); void remove(const Signal *sig); void save(const Signal *sig, const Signal &new_sig); protected: + void hideEvent(QHideEvent *event) override; void enterEvent(QEvent *event) override; void leaveEvent(QEvent *event) override; void saveSignal(); + void updateForm(bool show); + void showFormClicked(); SignalForm *form = nullptr; ElidedLabel *title; - QWidget *form_container; + QLabel *color_label; QLabel *icon; int form_idx = 0; - bool chart_opened = false; - QPushButton *plot_btn; + QToolButton *plot_btn; }; class SignalFindDlg : public QDialog { - Q_OBJECT - public: SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent); }; diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc index d0aa2cbb4f..586422ffc8 100644 --- a/tools/cabana/tests/test_cabana.cc +++ b/tools/cabana/tests/test_cabana.cc @@ -1,35 +1,67 @@ +#include "opendbc/can/common.h" +#undef INFO #include "catch2/catch.hpp" #include "tools/cabana/dbcmanager.h" +#include "tools/replay/logreader.h" + +// demo route, first segment +const std::string TEST_RLOG_URL = "https://commadata2.blob.core.windows.net/commadata2/4cf7a6ad03080c90/2021-09-29--13-46-36/0/rlog.bz2"; TEST_CASE("DBCManager::generateDBC") { DBCManager dbc_origin(nullptr); dbc_origin.open("toyota_new_mc_pt_generated"); - QString dbc_string = dbc_origin.generateDBC(); - DBCManager dbc_from_generated(nullptr); - dbc_from_generated.open("", dbc_string); + 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(m.name == new_m.name); + REQUIRE(m.size == new_m.size); + REQUIRE(m.sigs.size() == new_m.sigs.size()); + for (auto &[name, sig] : m.sigs) + REQUIRE(sig == new_m.sigs[name]); + } +} + +TEST_CASE("Parse can messages") { + DBCManager dbc(nullptr); + dbc.open("toyota_new_mc_pt_generated"); + CANParser can_parser(0, "toyota_new_mc_pt_generated", {}, {}); + + LogReader log; + REQUIRE(log.load(TEST_RLOG_URL, nullptr, {}, true)); + REQUIRE(log.events.size() > 0); + for (auto e : log.events) { + 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()); + if (c.getSrc() == 0 && msg) { + for (auto &[name, sig] : msg->sigs) { + double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), sig); + values_1[{c.getAddress(), name.toStdString()}].push_back(val); + } + } + } - auto dbc = dbc_origin.getDBC(); - auto new_dbc = dbc_from_generated.getDBC(); - REQUIRE(dbc->msgs.size() == new_dbc->msgs.size()); - for (int i = 0; i < dbc->msgs.size(); ++i) { - REQUIRE(dbc->msgs[i].name == new_dbc->msgs[i].name); - REQUIRE(dbc->msgs[i].address == new_dbc->msgs[i].address); - REQUIRE(dbc->msgs[i].size == new_dbc->msgs[i].size); - REQUIRE(dbc->msgs[i].sigs.size() == new_dbc->msgs[i].sigs.size()); - auto &sig = dbc->msgs[i].sigs; - auto &new_sig = new_dbc->msgs[i].sigs; - for (int j = 0; j < sig.size(); ++j) { - REQUIRE(sig[j].name == new_sig[j].name); - REQUIRE(sig[j].start_bit == new_sig[j].start_bit); - REQUIRE(sig[j].msb == new_sig[j].msb); - REQUIRE(sig[j].lsb == new_sig[j].lsb); - REQUIRE(sig[j].size == new_sig[j].size); - REQUIRE(sig[j].is_signed == new_sig[j].is_signed); - REQUIRE(sig[j].factor == new_sig[j].factor); - REQUIRE(sig[j].offset == new_sig[j].offset); - REQUIRE(sig[j].is_little_endian == new_sig[j].is_little_endian); + can_parser.UpdateCans(e->mono_time, e->event.getCan()); + auto values_2 = can_parser.query_latest(); + for (auto &[key, v1] : values_1) { + bool found = false; + for (auto &v2 : values_2) { + if (v2.address == key.first && v2.name == key.second) { + REQUIRE(v2.all_values.size() == v1.size()); + REQUIRE(v2.all_values == v1); + found = true; + break; + } + } + REQUIRE(found); + } } } } diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index d5e640b5f7..d85b23b7e6 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -37,7 +37,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { // btn controls QHBoxLayout *control_layout = new QHBoxLayout(); play_btn = new QPushButton("⏸"); - play_btn->setStyleSheet("font-weight:bold"); + play_btn->setStyleSheet("font-weight:bold; height:16px"); control_layout->addWidget(play_btn); QButtonGroup *group = new QButtonGroup(this); diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py index 42a416985e..cab11493f2 100755 --- a/tools/camerastream/compressed_vipc.py +++ b/tools/camerastream/compressed_vipc.py @@ -91,9 +91,14 @@ def main(addr, cams, nvidia=False): vipc_server.create_buffers(vst, 4, False, W, H) vipc_server.start_listener() + procs = [] for k, v in cams.items(): - multiprocessing.Process(target=decoder, args=(addr, k, vipc_server, v, nvidia)).start() + p = multiprocessing.Process(target=decoder, args=(addr, k, vipc_server, v, nvidia)) + p.start() + procs.append(p) + for p in procs: + p.join() if __name__ == "__main__": parser = argparse.ArgumentParser(description="Decode video streams and broadcast on VisionIPC")