diff --git a/body b/body index 0e74db67a..c433da944 160000 --- a/body +++ b/body @@ -1 +1 @@ -Subproject commit 0e74db67ae6aaa7c30054bd4335dcafe69a5aa72 +Subproject commit c433da944f0e4d974cd66601effa66a06355debe diff --git a/panda b/panda index aa18bc85b..4e9425715 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit aa18bc85bb6e83398c0ba29d51623480ac638e8e +Subproject commit 4e9425715eaf38d13a1a856df8a89f1013ff5837 diff --git a/pyproject.toml b/pyproject.toml index 0f5d9aa1c..13800fc1c 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -107,7 +107,6 @@ dev = [ "parameterized >=0.8, <0.9", #pprofile = "*" "pyautogui", - "pygame", "pyopencl; platform_machine != 'aarch64'", # broken on arm64 "pywinctl", "pyprof2calltree", @@ -115,6 +114,7 @@ dev = [ "tabulate", "types-requests", "types-tabulate", + "hexdump", # this is only pinned since 5.15.11 is broken "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux diff --git a/rednose_repo b/rednose_repo index 72b3479ba..023a6195d 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit 72b3479bababc658f24cc7aa0dc8bb550f0474fc +Subproject commit 023a6195dbfc2fa37dedc7383ed271fe639287c0 diff --git a/scripts/git_rewrite/rewrite-git-history.sh b/scripts/git_rewrite/rewrite-git-history.sh index 4130b55db..5a97e6bba 100755 --- a/scripts/git_rewrite/rewrite-git-history.sh +++ b/scripts/git_rewrite/rewrite-git-history.sh @@ -1,15 +1,40 @@ -#!/bin/bash -set -e - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -cd $DIR +#!/bin/bash -e SRC=/tmp/openpilot/ SRC_CLONE=/tmp/openpilot-clone/ OUT=/tmp/openpilot-tiny/ -LOG_FILE=$DIR/git-rewrite-log-$(date +"%Y-%m-%dT%H:%M:%S%z").txt -exec > >(tee -a "$LOG_FILE") 2>&1 +REWRITE_IGNORE_BRANCHES=( + dashcam3 + devel + master-ci + nightly + release2 + release3 + release3-staging +) + +VALIDATE_IGNORE_FILES=( + ".github/ISSUE_TEMPLATE/bug_report.md" + ".github/pull_request_template.md" +) + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" +cd $DIR + +LOGS_DIR=$DIR/git-rewrite-$(date +"%Y-%m-%dT%H:%M:%S%z") +mkdir -p $LOGS_DIR + +GIT_REWRITE_LOG=$LOGS_DIR/git-rewrite-log.txt +BRANCH_DIFF_LOG=$LOGS_DIR/branch-diff-log.txt +COMMIT_DIFF_LOG=$LOGS_DIR/commit-diff-log.txt + +START_TIME=$(date +%s) +exec > >(while IFS= read -r line; do + CURRENT_TIME=$(date +%s) + ELAPSED_TIME=$((CURRENT_TIME - START_TIME)) + echo "[${ELAPSED_TIME}s] $line" +done | tee -a "$GIT_REWRITE_LOG") 2>&1 # INSTALL git-filter-repo if [ ! -f /tmp/git-filter-repo ]; then @@ -40,7 +65,7 @@ if [ ! -d $SRC ]; then git push --prune $ARCHIVE_REPO +refs/heads/*:refs/heads/* # 956.39 MiB (110725 objects) git push --prune $ARCHIVE_REPO +refs/tags/*:refs/tags/* # 1.75 GiB (21694 objects) # git push --mirror $ARCHIVE_REPO || true # fails to push refs/pull/* (deny updating a hidden ref) for pull requests - # we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708 + # we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708 and https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/ fi # REWRITE master and tags @@ -52,7 +77,7 @@ if [ ! -d $SRC_CLONE ]; then echo "Checking out old history..." - git checkout tags/v0.7.1 + git checkout tags/v0.7.1 > /dev/null 2>&1 # checkout as main, since we need master ref later git checkout -b main @@ -60,22 +85,26 @@ if [ ! -d $SRC_CLONE ]; then # rm these so we don't get conflicts later git rm -r cereal opendbc panda selfdrive/ui/ui > /dev/null - git commit -m "removed conflicting files" + git commit -m "removed conflicting files" > /dev/null # skip-smudge to get rid of some lfs errors that it can't find the reference of some lfs files # we don't care about fetching/pushing lfs right now git lfs install --skip-smudge --local # squash initial setup commits - git cherry-pick -n -X theirs 6c33a5c..59b3d06 - git commit -m "switching to master" -m "$(git log --reverse --format=%B 6c33a5c..59b3d06)" + git cherry-pick -n -X theirs 6c33a5c..59b3d06 > /dev/null + git commit -m "switching to master" > /dev/null + + # squash the two commits + git reset --soft HEAD~2 + git commit -m "switching to master" -m "$(git log --reverse --format=%B 6c33a5c..59b3d06)" -m "removed conflicting files" > /dev/null # get commits we want to cherry-pick # will start with the next commit after #59b3d06 tools is local now COMMITS=$(git rev-list --reverse 59b3d06..master) # we need this for logging - TOTAL_COMMITS=$(echo $COMMITS | wc -w) + TOTAL_COMMITS=$(echo $COMMITS | wc -w | xargs) CURRENT_COMMIT_NUMBER=0 # empty this file @@ -85,7 +114,8 @@ if [ ! -d $SRC_CLONE ]; then for COMMIT in $COMMITS; do CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1)) - echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"\\r + # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"\\r + echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT" # set environment variables to preserve author/committer and dates export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT) @@ -119,6 +149,12 @@ if [ ! -d $SRC_CLONE ]; then # append the old commit ID to the commit message git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null fi + + # prune every 3000 commits to avoid gc errors + if [ $((CURRENT_COMMIT_NUMBER % 3000)) -eq 0 ]; then + echo "Pruning repo..." + git gc + fi done echo "Rewriting tags..." @@ -137,7 +173,7 @@ if [ ! -d $SRC_CLONE ]; then NEW_COMMIT=$OLD_COMMIT fi - printf "Rewriting tag %s from commit %s\n" "$TAG" "$NEW_COMMIT" + echo "Rewriting tag $TAG from commit $NEW_COMMIT" git tag -f "$TAG" "$NEW_COMMIT" done < "$DIR/tag-commit-map.txt" @@ -153,19 +189,20 @@ if [ ! -d $SRC_CLONE ]; then fi # REWRITE branches based on master -if [ ! -f "$SRC_CLONE/branch-diff.txt" ]; then +if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then cd $SRC_CLONE + > rewrite-branches-done # empty file - > branch-diff.txt + > $BRANCH_DIFF_LOG echo "Rewriting branches based on master..." # will store raw diffs here, if exist mkdir -p differences - # get a list of all branches except master - BRANCHES=$(git branch -r | grep -v ' -> ' | sed 's/origin\///' | grep -v '^master$') + # get a list of all branches except master and REWRITE_IGNORE_BRANCHES + BRANCHES=$(git branch -r | grep -v ' -> ' | sed 's/.*origin\///' | grep -v '^master$' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n')) for BRANCH in $BRANCHES; do # check if the branch is based on master history @@ -176,7 +213,7 @@ if [ ! -f "$SRC_CLONE/branch-diff.txt" ]; then # create a new branch based on the new master NEW_MERGE_BASE=$(grep "^$MERGE_BASE " "commit-map.txt" | awk '{print $2}') if [ -z "$NEW_MERGE_BASE" ]; then - echo "Error: could not find new merge base for branch $BRANCH" >> branch-diff.txt + echo "Error: could not find new merge base for branch $BRANCH" >> $BRANCH_DIFF_LOG continue fi git checkout -b ${BRANCH}_new $NEW_MERGE_BASE @@ -208,8 +245,8 @@ if [ ! -f "$SRC_CLONE/branch-diff.txt" ]; then echo "$COMMIT EMPTY" >> commit-map.txt else # handle other errors or conflicts - echo "Cherry-pick of ${BRANCH} branch failed. Removing branch upstream..." >> branch-diff.txt - echo "$GIT_OUTPUT" > "differences/branch-${BRANCH}" + echo "Cherry-pick of ${BRANCH} branch failed. Removing branch upstream..." >> $BRANCH_DIFF_LOG + echo "$GIT_OUTPUT" > "$LOGS_DIR/branch-${BRANCH}" git cherry-pick --abort git push --delete origin ${BRANCH} HAS_ERROR=1 @@ -239,28 +276,24 @@ if [ ! -f "$SRC_CLONE/branch-diff.txt" ]; then git checkout master > /dev/null git branch -D ${BRANCH}_new > /dev/null else - # echo "Skipping branch $BRANCH as it's not based on master history" >> branch-diff.txt - echo "Deleting branch $BRANCH as it's not based on master history" >> branch-diff.txt - git push --delete origin ${BRANCH} + echo "Deleting branch $BRANCH as it's not based on master history" >> $BRANCH_DIFF_LOG + git push --delete origin ${BRANCH} fi done fi # VALIDATE cherry-pick -if [ ! -f "$SRC_CLONE/commit-diff.txt" ]; then +if [ ! -f "$SRC_CLONE/validation-done" ]; then cd $SRC_CLONE + > validation-done TOTAL_COMMITS=$(grep -cve '^\s*$' commit-map.txt) CURRENT_COMMIT_NUMBER=0 COUNT_SAME=0 COUNT_DIFF=0 - VALIDATE_IGNORE_FILES=( - ".github/ISSUE_TEMPLATE/bug_report.md" - ".github/pull_request_template.md" - ) # empty file - > commit-diff.txt + > $COMMIT_DIFF_LOG echo "Validating commits..." @@ -273,7 +306,7 @@ if [ ! -f "$SRC_CLONE/commit-diff.txt" ]; then continue fi if [ "$OLD_COMMIT" == "BRANCH" ]; then - echo "Branch ${NEW_COMMIT} below:" >> commit-diff.txt + echo "Branch ${NEW_COMMIT} below:" >> $COMMIT_DIFF_LOG continue fi CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1)) @@ -283,7 +316,8 @@ if [ ! -f "$SRC_CLONE/commit-diff.txt" ]; then OLD_DATE=$(git show -s --format='%cd' $OLD_COMMIT) NEW_DATE=$(git show -s --format='%cd' $NEW_COMMIT) - echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r + # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r + echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)" # generate lists of files and their hashes for the old and new commits, excluding ignored files OLD_FILES=$(git ls-tree -r $OLD_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")") @@ -294,17 +328,17 @@ if [ ! -f "$SRC_CLONE/commit-diff.txt" ]; then # echo "Old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT are equivalent." COUNT_SAME=$((COUNT_SAME + 1)) else - echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> commit-diff.txt + echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> $COMMIT_DIFF_LOG COUNT_DIFF=$((COUNT_DIFF + 1)) set +e - diff -u <(echo "$OLD_FILES") <(echo "$NEW_FILES") > "differences/$CURRENT_COMMIT_NUMBER-$OLD_COMMIT_SHORT-$NEW_COMMIT_SHORT" + diff -u <(echo "$OLD_FILES") <(echo "$NEW_FILES") > "$LOGS_DIR/commit-$CURRENT_COMMIT_NUMBER-$OLD_COMMIT_SHORT-$NEW_COMMIT_SHORT" set -e fi done < "commit-map.txt" - echo "Summary:" >> commit-diff.txt - echo "Equivalent commits: $COUNT_SAME" >> commit-diff.txt - echo "Different commits: $COUNT_DIFF" >> commit-diff.txt + echo "Summary:" >> $COMMIT_DIFF_LOG + echo "Equivalent commits: $COUNT_SAME" >> $COMMIT_DIFF_LOG + echo "Different commits: $COUNT_DIFF" >> $COMMIT_DIFF_LOG fi if [ ! -d $OUT ]; then @@ -313,7 +347,6 @@ if [ ! -d $OUT ]; then cd $OUT # remove all non-master branches - # TODO: need to see if we "redo" the other branches (except master, master-ci, devel, devel-staging, release3, release3-staging, dashcam3, dashcam3-staging, testing-closet*, hotfix-*) # git branch | grep -v "^ master$" | grep -v "\*" | xargs git branch -D # echo "cleaning up refs" @@ -322,7 +355,8 @@ if [ ! -d $OUT ]; then echo "importing new lfs files" # import "almost" everything to lfs - git lfs migrate import --everything --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*" + BRANCHES=$(git for-each-ref --format='%(refname)' refs/heads/ | sed 's%refs/heads/%%g' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n') | tr '\n' ' ') + git lfs migrate import --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*" $BRANCHES echo "reflog and gc" # this is needed after lfs import @@ -351,7 +385,6 @@ git lfs fetch --all || true # final push - will also push lfs # TODO: switch to git@github.com:commaai/openpilot.git when ready -# if using mirror, it will also delete non-master branches (master-ci, nightly, devel, release3, release3-staging, dashcam3, release2) # git push --mirror git@github.com:commaai/openpilot-tiny.git -# using this instead - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/ -git push git@github.com:commaai/openpilot-tiny.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/* +# using this instead to ignore refs/pull/* - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/ +git push --prune git@github.com:commaai/openpilot-tiny.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/* diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 174e63062..fb7b8f742 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -51,22 +51,21 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): def get_accel_from_plan(CP, speeds, accels): - if len(speeds) == CONTROL_N: - v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds) - a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels) + if len(speeds) == CONTROL_N: + v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds) + a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels) - v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds) - a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now + v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds) + a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now - v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds) - else: - v_target = 0.0 - v_target_now = 0.0 - v_target_1sec = 0.0 - a_target = 0.0 - should_stop = (v_target < CP.vEgoStopping and - v_target_1sec < CP.vEgoStopping) - return a_target, should_stop + v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds) + else: + v_target = 0.0 + v_target_1sec = 0.0 + a_target = 0.0 + should_stop = (v_target < CP.vEgoStopping and + v_target_1sec < CP.vEgoStopping) + return a_target, should_stop class LongitudinalPlanner: @@ -95,8 +94,8 @@ class LongitudinalPlanner: @staticmethod def parse_model(model_msg, model_error): if (len(model_msg.position.x) == ModelConstants.IDX_N and - len(model_msg.velocity.x) == ModelConstants.IDX_N and - len(model_msg.acceleration.x) == ModelConstants.IDX_N): + len(model_msg.velocity.x) == ModelConstants.IDX_N and + len(model_msg.acceleration.x) == ModelConstants.IDX_N): x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index ba649b318..e0784eb8e 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -177,8 +177,11 @@ class TorqueEstimator(ParameterEstimator): if len(self.raw_points['steer_torque']) == self.hist_len: yaw_rate = msg.angularVelocityCalibrated.value[2] roll = msg.orientationNED.value[0] - lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool) - steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool) + # check lat active up to now (without lag compensation) + lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL), + self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool) + steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL), + self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool) vego = np.interp(t, self.raw_points['carState_t'], self.raw_points['vego']) steer = np.interp(t, self.raw_points['carOutput_t'], self.raw_points['steer_torque']).item() lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY).item() diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc index a404ad388..fcb4ac67a 100644 --- a/selfdrive/pandad/panda.cc +++ b/selfdrive/pandad/panda.cc @@ -26,8 +26,6 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) { hw_type = get_hw_type(); can_reset_communications(); - - return; } bool Panda::connected() { diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 1635012f3..13b427b89 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f6ff3601bd0496e78d8bc3b019d58bb7739f096b \ No newline at end of file +0adff03d45c99dcfb330c48b2aa9d2093ce674a2 diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc index 0b85ec8e7..1ba552702 100644 --- a/selfdrive/ui/qt/onroad/annotated_camera.cc +++ b/selfdrive/ui/qt/onroad/annotated_camera.cc @@ -60,11 +60,13 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { const auto cs = sm["controlsState"].getControlsState(); const auto car_state = sm["carState"].getCarState(); + is_metric = s.scene.is_metric; + // Handle older routes where vCruiseCluster is not set float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster(); setSpeed = cs_alive ? v_cruise : SET_SPEED_NA; is_cruise_set = setSpeed > 0 && (int)setSpeed != SET_SPEED_NA; - if (is_cruise_set && !s.scene.is_metric) { + if (is_cruise_set && !is_metric) { setSpeed *= KM_TO_MILE; } @@ -72,10 +74,9 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0; float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo(); speed = cs_alive ? std::max(0.0, v_ego) : 0.0; - speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH; + speed *= is_metric ? MS_TO_KPH : MS_TO_MPH; - is_metric = s.scene.is_metric; - speedUnit = s.scene.is_metric ? tr("km/h") : tr("mph"); + speedUnit = is_metric ? tr("km/h") : tr("mph"); hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE); status = s.status; diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py index 6976ba7ce..05aed4905 100755 --- a/system/hardware/hardwared.py +++ b/system/hardware/hardwared.py @@ -235,8 +235,8 @@ def hardware_thread(end_event, hw_queue) -> None: onroad_conditions["ignition"] = False cloudlog.error("panda timed out onroad") - # Run at 2Hz, plus rising edge of ignition - ign_edge = started_ts is None and onroad_conditions["ignition"] + # Run at 2Hz, plus either edge of ignition + ign_edge = (started_ts is not None) != onroad_conditions["ignition"] if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_HW) != 0) and not ign_edge: continue diff --git a/tools/cabana/README.md b/tools/cabana/README.md index 53723ef8a..dbbdd8020 100644 --- a/tools/cabana/README.md +++ b/tools/cabana/README.md @@ -29,4 +29,72 @@ Arguments: connect.comma.ai ``` -See [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana) +## Examples + +### Running Cabana in Demo Mode +To run Cabana using a built-in demo route, use the following command: + +```shell +cabana --demo +``` + +### Loading a Specific Route + +To load a specific route for replay, provide the route as an argument: + +```shell +cabana "a2a0ccea32023010|2023-07-27--13-01-19" +``` + +Replace "0ccea32023010|2023-07-27--13-01-19" with your desired route identifier. + + +### Running Cabana with multiple cameras +To run Cabana with multiple cameras, use the following command: + +```shell +cabana "a2a0ccea32023010|2023-07-27--13-01-19" --dcam --ecam +``` + +### Streaming CAN Messages from a comma Device + +[SSH into your device](https://github.com/commaai/openpilot/wiki/SSH) and start the bridge with the following command: + +```shell +cd /data/openpilot/cereal/messaging/ +./bridge & +``` + +Then Run Cabana with the device's IP address: + +```shell +cabana --stream +``` + +Replace <ipaddress> with your comma device's IP address. + +While streaming from the device, Cabana will log the CAN messages to a local directory. By default, this directory is ~/cabana_live_stream/. You can change the log directory in Cabana by navigating to menu -> tools -> settings. + +After disconnecting from the device, you can replay the logged CAN messages from the stream selector dialog -> browse local route. + +### Streaming CAN Messages from Panda + +To read CAN messages from a connected Panda, use the following command: + +```shell +cabana --panda +``` + +### Using the Stream Selector Dialog + +If you run Cabana without any arguments, a stream selector dialog will pop up, allowing you to choose the stream. + +```shell +cabana +``` + +## Additional Information + +For more information, see the [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana) + +If you encounter any issues or have feature requests, please contribute bug reports or discussions at: [new cabana feedback](https://github.com/commaai/openpilot/discussions/26091) \ No newline at end of file diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index 4a3b4126d..a798d13a8 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -38,26 +38,19 @@ int main(int argc, char *argv[]) { cmd_parser.addOption({"dbc", "dbc file to open", "dbc"}); cmd_parser.process(app); - QString dbc_file = cmd_parser.isSet("dbc") ? cmd_parser.value("dbc") : ""; - AbstractStream *stream = nullptr; + if (cmd_parser.isSet("stream")) { stream = new DeviceStream(&app, cmd_parser.value("zmq")); } else if (cmd_parser.isSet("panda") || cmd_parser.isSet("panda-serial")) { - PandaStreamConfig config = {}; - if (cmd_parser.isSet("panda-serial")) { - config.serial = cmd_parser.value("panda-serial"); - } try { - stream = new PandaStream(&app, config); + stream = new PandaStream(&app, {.serial = cmd_parser.value("panda-serial")}); } catch (std::exception &e) { qWarning() << e.what(); return 0; } } else if (cmd_parser.isSet("socketcan")) { - SocketCanStreamConfig config = {}; - config.device = cmd_parser.value("socketcan"); - stream = new SocketCanStream(&app, config); + stream = new SocketCanStream(&app, {.device = cmd_parser.value("socketcan")}); } else { uint32_t replay_flags = REPLAY_FLAG_NONE; if (cmd_parser.isSet("ecam")) replay_flags |= REPLAY_FLAG_ECAM; @@ -73,24 +66,14 @@ int main(int argc, char *argv[]) { route = DEMO_ROUTE; } if (!route.isEmpty()) { - auto replay_stream = new ReplayStream(&app); + auto replay_stream = std::make_unique(&app); if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) { return 0; } - stream = replay_stream; + stream = replay_stream.release(); } } - MainWindow w; - if (stream) { - stream->start(); - if (!dbc_file.isEmpty()) { - w.loadFile(dbc_file); - } - } else { - w.openStream(); - } - w.show(); - + MainWindow w(stream, cmd_parser.value("dbc")); return app.exec(); } diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc index 128c33bae..6c13252e8 100644 --- a/tools/cabana/chart/chart.cc +++ b/tools/cabana/chart/chart.cc @@ -155,11 +155,10 @@ void ChartView::removeIf(std::function predicate) { } void ChartView::signalUpdated(const cabana::Signal *sig) { - if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.sig == sig; })) { - for (const auto &s : sigs) { - if (s.sig == sig && s.series->color() != sig->color) { - setSeriesColor(s.series, sig->color); - } + auto it = std::find_if(sigs.begin(), sigs.end(), [sig](auto &s) { return s.sig == sig; }); + if (it != sigs.end()) { + if (it->series->color() != sig->color) { + setSeriesColor(it->series, sig->color); } updateTitle(); updateSeries(sig); diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h index 0b948b342..a92519179 100644 --- a/tools/cabana/chart/chartswidget.h +++ b/tools/cabana/chart/chartswidget.h @@ -110,7 +110,6 @@ private: QTimer *align_timer; int current_theme = 0; bool value_tip_visible_ = false; - friend class ZoomCommand; friend class ChartView; friend class ChartsContainer; }; diff --git a/tools/cabana/chart/signalselector.cc b/tools/cabana/chart/signalselector.cc index 0ddb212a8..63f3a7d57 100644 --- a/tools/cabana/chart/signalselector.cc +++ b/tools/cabana/chart/signalselector.cc @@ -83,7 +83,8 @@ void SignalSelector::updateAvailableList(int index) { MessageId msg_id = msgs_combo->itemData(index).value(); auto selected_items = seletedItems(); for (auto s : dbc()->msg(msg_id)->getSignals()) { - bool is_selected = std::any_of(selected_items.begin(), selected_items.end(), [=, sig = s](auto it) { return it->msg_id == msg_id && it->sig == sig; }); + bool is_selected = std::any_of(selected_items.begin(), selected_items.end(), + [sig = s, &msg_id](auto it) { return it->msg_id == msg_id && it->sig == sig; }); if (!is_selected) { addItemToList(available_list, msg_id, s); } diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc index 1cadda2bd..094fe9618 100644 --- a/tools/cabana/chart/sparkline.cc +++ b/tools/cabana/chart/sparkline.cc @@ -4,8 +4,6 @@ #include #include -#include "tools/cabana/streams/abstractstream.h" - void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size) { const auto &msgs = can->events(msg_id); @@ -14,11 +12,6 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), range_start, CompareCanEvent()); auto last = std::upper_bound(first, msgs.cend(), range_end, CompareCanEvent()); - if (first == last || size.isEmpty()) { - pixmap = QPixmap(); - return; - } - points.clear(); double value = 0; for (auto it = first; it != last; ++it) { @@ -27,7 +20,7 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl } } - if (points.empty()) { + if (points.empty() || size.isEmpty()) { pixmap = QPixmap(); return; } diff --git a/tools/cabana/chart/sparkline.h b/tools/cabana/chart/sparkline.h index 3bdd8a3ee..806f0a61e 100644 --- a/tools/cabana/chart/sparkline.h +++ b/tools/cabana/chart/sparkline.h @@ -5,6 +5,7 @@ #include #include "tools/cabana/dbc/dbc.h" +#include "tools/cabana/streams/abstractstream.h" class Sparkline { public: diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc index 4a1c52819..cca9d0c0f 100644 --- a/tools/cabana/dbc/dbcfile.cc +++ b/tools/cabana/dbc/dbcfile.cc @@ -9,10 +9,6 @@ DBCFile::DBCFile(const QString &dbc_file_name) { if (file.open(QIODevice::ReadOnly)) { name_ = QFileInfo(dbc_file_name).baseName(); filename = dbc_file_name; - // Remove auto save file extension - if (dbc_file_name.endsWith(AUTO_SAVE_EXTENSION)) { - filename.chop(AUTO_SAVE_EXTENSION.length()); - } parse(file.readAll()); } else { throw std::runtime_error("Failed to open file."); @@ -20,17 +16,12 @@ DBCFile::DBCFile(const QString &dbc_file_name) { } DBCFile::DBCFile(const QString &name, const QString &content) : name_(name), filename("") { - // Open from clipboard parse(content); } bool DBCFile::save() { assert(!filename.isEmpty()); - if (writeContents(filename)) { - cleanupAutoSaveFile(); - return true; - } - return false; + return writeContents(filename); } bool DBCFile::saveAs(const QString &new_filename) { @@ -38,16 +29,6 @@ bool DBCFile::saveAs(const QString &new_filename) { return save(); } -bool DBCFile::autoSave() { - return !filename.isEmpty() && writeContents(filename + AUTO_SAVE_EXTENSION); -} - -void DBCFile::cleanupAutoSaveFile() { - if (!filename.isEmpty()) { - QFile::remove(filename + AUTO_SAVE_EXTENSION); - } -} - bool DBCFile::writeContents(const QString &fn) { QFile file(fn); if (file.open(QIODevice::WriteOnly)) { @@ -75,7 +56,7 @@ cabana::Msg *DBCFile::msg(const QString &name) { return it != msgs.end() ? &(it->second) : nullptr; } -cabana::Signal *DBCFile::signal(uint32_t address, const QString name) { +cabana::Signal *DBCFile::signal(uint32_t address, const QString &name) { auto m = msg(address); return m ? (cabana::Signal *)m->sig(name) : nullptr; } diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h index 20de04a86..bd267898f 100644 --- a/tools/cabana/dbc/dbcfile.h +++ b/tools/cabana/dbc/dbcfile.h @@ -5,8 +5,6 @@ #include "tools/cabana/dbc/dbc.h" -const QString AUTO_SAVE_EXTENSION = ".tmp"; - class DBCFile { public: DBCFile(const QString &dbc_file_name); @@ -15,9 +13,7 @@ public: bool save(); bool saveAs(const QString &new_filename); - bool autoSave(); bool writeContents(const QString &fn); - void cleanupAutoSaveFile(); QString generateDBC(); void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment); @@ -27,7 +23,7 @@ public: cabana::Msg *msg(uint32_t address); cabana::Msg *msg(const QString &name); inline cabana::Msg *msg(const MessageId &id) { return msg(id.address); } - cabana::Signal *signal(uint32_t address, const QString name); + cabana::Signal *signal(uint32_t address, const QString &name); inline QString name() const { return name_.isEmpty() ? "untitled" : name_; } inline bool isEmpty() const { return msgs.empty() && name_.isEmpty(); } diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index bf1db63ee..ee8f42ea7 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -12,6 +12,7 @@ #include #include #include +#include #include #include #include @@ -23,9 +24,8 @@ #include "tools/cabana/streamselector.h" #include "tools/cabana/tools/findsignal.h" #include "tools/cabana/utils/export.h" -#include "tools/replay/replay.h" -MainWindow::MainWindow() : QMainWindow() { +MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainWindow() { loadFingerprints(); createDockWindows(); setCentralWidget(center_widget = new CenterWidget(this)); @@ -65,10 +65,10 @@ MainWindow::MainWindow() : QMainWindow() { QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged); QObject::connect(UndoStack::instance(), &QUndoStack::cleanChanged, this, &MainWindow::undoStackCleanChanged); - QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MainWindow::undoStackIndexChanged); QObject::connect(&settings, &Settings::changed, this, &MainWindow::updateStatus); - QObject::connect(StreamNotifier::instance(), &StreamNotifier::changingStream, this, &MainWindow::changingStream); - QObject::connect(StreamNotifier::instance(), &StreamNotifier::streamStarted, this, &MainWindow::streamStarted); + + QTimer::singleShot(0, this, [=]() { stream ? openStream(stream, dbc_file) : selectAndOpenStream(); }); + show(); } void MainWindow::loadFingerprints() { @@ -76,16 +76,12 @@ void MainWindow::loadFingerprints() { if (json_file.open(QIODevice::ReadOnly)) { fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll()); } - // get opendbc names - for (auto fn : QDir(OPENDBC_FILE_PATH).entryList({"*.dbc"}, QDir::Files, QDir::Name)) { - opendbc_names << QFileInfo(fn).baseName(); - } } void MainWindow::createActions() { // File menu QMenu *file_menu = menuBar()->addMenu(tr("&File")); - file_menu->addAction(tr("Open Stream..."), this, &MainWindow::openStream); + file_menu->addAction(tr("Open Stream..."), this, &MainWindow::selectAndOpenStream); close_stream_act = file_menu->addAction(tr("Close stream"), this, &MainWindow::closeStream); export_to_csv_act = file_menu->addAction(tr("Export to CSV..."), this, &MainWindow::exportToCSV); close_stream_act->setEnabled(false); @@ -96,20 +92,15 @@ void MainWindow::createActions() { file_menu->addAction(tr("Open DBC File..."), [this]() { openFile(); }, QKeySequence::Open); manage_dbcs_menu = file_menu->addMenu(tr("Manage &DBC Files")); + QObject::connect(manage_dbcs_menu, &QMenu::aboutToShow, this, &MainWindow::updateLoadSaveMenus); open_recent_menu = file_menu->addMenu(tr("Open &Recent")); - for (int i = 0; i < MAX_RECENT_FILES; ++i) { - recent_files_acts[i] = new QAction(this); - recent_files_acts[i]->setVisible(false); - QObject::connect(recent_files_acts[i], &QAction::triggered, this, &MainWindow::openRecentFile); - open_recent_menu->addAction(recent_files_acts[i]); - } - updateRecentFileActions(); + QObject::connect(open_recent_menu, &QMenu::aboutToShow, this, &MainWindow::updateRecentFileMenu); file_menu->addSeparator(); QMenu *load_opendbc_menu = file_menu->addMenu(tr("Load DBC from commaai/opendbc")); // load_opendbc_menu->setStyleSheet("QMenu { menu-scrollable: true; }"); - for (const auto &dbc_name : opendbc_names) { + for (const auto &dbc_name : QDir(OPENDBC_FILE_PATH).entryList({"*.dbc"}, QDir::Files, QDir::Name)) { load_opendbc_menu->addAction(dbc_name, [this, name = dbc_name]() { loadDBCFromOpendbc(name); }); } @@ -180,6 +171,7 @@ void MainWindow::createDockWidgets() { messages_widget = new MessagesWidget(this); messages_dock->setWidget(messages_widget); QObject::connect(messages_widget, &MessagesWidget::titleChanged, messages_dock, &QDockWidget::setWindowTitle); + QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage); // right panel charts_widget = new ChartsWidget(this); @@ -209,67 +201,52 @@ void MainWindow::createStatusBar() { progress_bar->setVisible(false); statusBar()->addWidget(new QLabel(tr("For Help, Press F1"))); statusBar()->addPermanentWidget(progress_bar); - statusBar()->addPermanentWidget(status_label = new QLabel(this)); updateStatus(); } void MainWindow::createShortcuts() { auto shortcut = new QShortcut(QKeySequence(Qt::Key_Space), this, nullptr, nullptr, Qt::ApplicationShortcut); - QObject::connect(shortcut, &QShortcut::activated, []() { can->pause(!can->isPaused()); }); + QObject::connect(shortcut, &QShortcut::activated, this, []() { + if (can) can->pause(!can->isPaused()); + }); // TODO: add more shortcuts here. } -void MainWindow::undoStackIndexChanged(int index) { - int count = UndoStack::instance()->count(); - if (count >= 0) { - QString command_text; - if (index == count) { - command_text = (count == prev_undostack_count ? "Redo " : "") + UndoStack::instance()->text(index - 1); - } else if (index < prev_undostack_index) { - command_text = tr("Undo %1").arg(UndoStack::instance()->text(index)); - } else if (index > prev_undostack_index) { - command_text = tr("Redo %1").arg(UndoStack::instance()->text(index - 1)); - } - statusBar()->showMessage(command_text, 2000); - } - prev_undostack_index = index; - prev_undostack_count = count; - autoSave(); - updateLoadSaveMenus(); -} - void MainWindow::undoStackCleanChanged(bool clean) { - if (clean) { - prev_undostack_index = 0; - prev_undostack_count = 0; - } setWindowModified(!clean); } void MainWindow::DBCFileChanged() { UndoStack::instance()->clear(); - updateLoadSaveMenus(); + + // Update file menu + int cnt = dbc()->nonEmptyDBCCount(); + save_dbc->setText(cnt > 1 ? tr("Save %1 DBCs...").arg(cnt) : tr("Save DBC...")); + save_dbc->setEnabled(cnt > 0); + save_dbc_as->setEnabled(cnt == 1); + // TODO: Support clipboard for multiple files + copy_dbc_to_clipboard->setEnabled(cnt == 1); + manage_dbcs_menu->setEnabled(dynamic_cast(can) == nullptr); + + QStringList title; + for (auto f : dbc()->allDBCFiles()) { + title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name())); + } + setWindowFilePath(title.join(" | ")); } -void MainWindow::openStream() { - AbstractStream *stream = nullptr; - StreamSelector dlg(&stream, this); +void MainWindow::selectAndOpenStream() { + StreamSelector dlg(this); if (dlg.exec()) { - if (!dlg.dbcFile().isEmpty()) { - loadFile(dlg.dbcFile()); - } - stream->start(); - statusBar()->showMessage(tr("Route %1 loaded").arg(can->routeName()), 2000); + openStream(dlg.stream(), dlg.dbcFile()); } else if (!can) { - stream = new DummyStream(this); - stream->start(); + openStream(new DummyStream(this)); } } void MainWindow::closeStream() { - AbstractStream *stream = new DummyStream(this); - stream->start(); + openStream(new DummyStream(this)); if (dbc()->nonEmptyDBCCount() > 0) { emit dbc()->DBCFileChanged(); } @@ -301,18 +278,8 @@ void MainWindow::loadFile(const QString &fn, SourceSet s) { if (!fn.isEmpty()) { closeFile(s); - QString dbc_fn = fn; - // Prompt user to load auto saved file if it exists. - if (QFile::exists(fn + AUTO_SAVE_EXTENSION)) { - auto ret = QMessageBox::question(this, tr("Auto saved DBC found"), tr("Auto saved DBC file from previous session found. Do you want to load it instead?")); - if (ret == QMessageBox::Yes) { - dbc_fn += AUTO_SAVE_EXTENSION; - UndoStack::instance()->resetClean(); // Force user to save on close so the auto saved file is not lost - } - } - QString error; - if (dbc()->open(s, dbc_fn, &error)) { + if (dbc()->open(s, fn, &error)) { updateRecentFiles(fn); statusBar()->showMessage(tr("DBC File %1 loaded").arg(fn), 2000); } else { @@ -323,15 +290,8 @@ void MainWindow::loadFile(const QString &fn, SourceSet s) { } } -void MainWindow::openRecentFile() { - if (auto action = qobject_cast(sender())) { - loadFile(action->data().toString()); - } -} - void MainWindow::loadDBCFromOpendbc(const QString &name) { - QString opendbc_file_path = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, name); - loadFile(opendbc_file_path); + loadFile(QString("%1/%2").arg(OPENDBC_FILE_PATH, name)); } void MainWindow::loadFromClipboard(SourceSet s, bool close_all) { @@ -349,13 +309,19 @@ void MainWindow::loadFromClipboard(SourceSet s, bool close_all) { } } -void MainWindow::changingStream() { +void MainWindow::openStream(AbstractStream *stream, const QString &dbc_file) { center_widget->clear(); delete messages_widget; delete video_splitter; -} -void MainWindow::streamStarted() { + delete can; + can = stream; + can->setParent(this); // take ownership + can->start(); + + loadFile(dbc_file); + statusBar()->showMessage(tr("Stream [%1] started").arg(can->routeName()), 2000); + bool has_stream = dynamic_cast(can) == nullptr; close_stream_act->setEnabled(has_stream); export_to_csv_act->setEnabled(has_stream); @@ -372,9 +338,20 @@ void MainWindow::streamStarted() { newFile(); } - QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage); QObject::connect(can, &AbstractStream::eventsMerged, this, &MainWindow::eventsMerged); - QObject::connect(can, &AbstractStream::sourcesUpdated, this, &MainWindow::updateLoadSaveMenus); + + if (has_stream) { + auto wait_dlg = new QProgressDialog( + can->liveStreaming() ? tr("Waiting for the live stream to start...") : tr("Loading segment data..."), + tr("&Abort"), 0, 100, this); + wait_dlg->setWindowModality(Qt::WindowModal); + wait_dlg->setFixedSize(400, wait_dlg->sizeHint().height()); + QObject::connect(wait_dlg, &QProgressDialog::canceled, this, &MainWindow::close); + QObject::connect(can, &AbstractStream::eventsMerged, wait_dlg, &QProgressDialog::deleteLater); + QObject::connect(this, &MainWindow::updateProgressBar, wait_dlg, [=](uint64_t cur, uint64_t total, bool success) { + wait_dlg->setValue((int)((cur / (double)total) * 100)); + }); + } } void MainWindow::eventsMerged() { @@ -383,12 +360,8 @@ void MainWindow::eventsMerged() { .arg(can->routeName()) .arg(car_fingerprint.isEmpty() ? tr("Unknown Car") : car_fingerprint)); // Don't overwrite already loaded DBC - if (!dbc()->nonEmptyDBCCount() && !car_fingerprint.isEmpty()) { - auto dbc_name = fingerprint_to_dbc[car_fingerprint]; - if (dbc_name != QJsonValue::Undefined) { - // Prevent dialog that load autosaved file from blocking replay->start(). - QTimer::singleShot(0, this, [dbc_name, this]() { loadDBCFromOpendbc(dbc_name.toString()); }); - } + if (!dbc()->nonEmptyDBCCount() && fingerprint_to_dbc.object().contains(car_fingerprint)) { + QTimer::singleShot(0, this, [this]() { loadDBCFromOpendbc(fingerprint_to_dbc[car_fingerprint].toString() + ".dbc"); }); } } } @@ -409,22 +382,6 @@ void MainWindow::saveAs() { } } -void MainWindow::autoSave() { - if (!UndoStack::instance()->isClean()) { - for (auto dbc_file : dbc()->allDBCFiles()) { - if (!dbc_file->filename.isEmpty()) { - dbc_file->autoSave(); - } - } - } -} - -void MainWindow::cleanupAutoSaveFile() { - for (auto dbc_file : dbc()->allDBCFiles()) { - dbc_file->cleanupAutoSaveFile(); - } -} - void MainWindow::closeFile(SourceSet s) { remindSaveChanges(); if (s == SOURCE_ALL) { @@ -448,7 +405,6 @@ void MainWindow::saveFile(DBCFile *dbc_file) { assert(dbc_file != nullptr); if (!dbc_file->filename.isEmpty()) { dbc_file->save(); - updateLoadSaveMenus(); UndoStack::instance()->setClean(); statusBar()->showMessage(tr("File saved"), 2000); } else if (!dbc_file->isEmpty()) { @@ -464,7 +420,6 @@ void MainWindow::saveFileAs(DBCFile *dbc_file) { UndoStack::instance()->setClean(); statusBar()->showMessage(tr("File saved as %1").arg(fn), 2000); updateRecentFiles(fn); - updateLoadSaveMenus(); } } @@ -483,16 +438,7 @@ void MainWindow::saveFileToClipboard(DBCFile *dbc_file) { } void MainWindow::updateLoadSaveMenus() { - int cnt = dbc()->nonEmptyDBCCount(); - save_dbc->setText(cnt > 1 ? tr("Save %1 DBCs...").arg(cnt) : tr("Save DBC...")); - save_dbc->setEnabled(cnt > 0); - save_dbc_as->setEnabled(cnt == 1); - - // TODO: Support clipboard for multiple files - copy_dbc_to_clipboard->setEnabled(cnt == 1); - manage_dbcs_menu->clear(); - manage_dbcs_menu->setEnabled(dynamic_cast(can) == nullptr); for (int source : can->sources) { if (source >= 64) continue; // Sent and blocked buses are handled implicitly @@ -505,8 +451,8 @@ void MainWindow::updateLoadSaveMenus() { bus_menu->addAction(tr("Load DBC From Clipboard..."), [=]() { loadFromClipboard(ss, false); }); // Show sub-menu for each dbc for this source. - QString file_name = "No DBCs loaded"; - if (auto dbc_file = dbc()->findDBCFile(source)) { + auto dbc_file = dbc()->findDBCFile(source); + if (dbc_file) { bus_menu->addSeparator(); bus_menu->addAction(dbc_file->name() + " (" + toString(dbc()->sources(dbc_file)) + ")")->setEnabled(false); bus_menu->addAction(tr("Save..."), [=]() { saveFile(dbc_file); }); @@ -514,19 +460,11 @@ void MainWindow::updateLoadSaveMenus() { bus_menu->addAction(tr("Copy to Clipboard..."), [=]() { saveFileToClipboard(dbc_file); }); bus_menu->addAction(tr("Remove from this bus..."), [=]() { closeFile(ss); }); bus_menu->addAction(tr("Remove from all buses..."), [=]() { closeFile(dbc_file); }); - - file_name = dbc_file->name(); } + bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(dbc_file ? dbc_file->name() : "No DBCs loaded")); manage_dbcs_menu->addMenu(bus_menu); - bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(file_name)); } - - QStringList title; - for (auto f : dbc()->allDBCFiles()) { - title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name())); - } - setWindowFilePath(title.join(" | ")); } void MainWindow::updateRecentFiles(const QString &fn) { @@ -536,21 +474,21 @@ void MainWindow::updateRecentFiles(const QString &fn) { settings.recent_files.removeLast(); } settings.last_dir = QFileInfo(fn).absolutePath(); - updateRecentFileActions(); } -void MainWindow::updateRecentFileActions() { +void MainWindow::updateRecentFileMenu() { + open_recent_menu->clear(); + int num_recent_files = std::min(settings.recent_files.size(), MAX_RECENT_FILES); + if (!num_recent_files) { + open_recent_menu->addAction(tr("No Recent Files"))->setEnabled(false); + return; + } + for (int i = 0; i < num_recent_files; ++i) { QString text = tr("&%1 %2").arg(i + 1).arg(QFileInfo(settings.recent_files[i]).fileName()); - recent_files_acts[i]->setText(text); - recent_files_acts[i]->setData(settings.recent_files[i]); - recent_files_acts[i]->setVisible(true); + open_recent_menu->addAction(text, this, [this, file = settings.recent_files[i]]() { loadFile(file); }); } - for (int i = num_recent_files; i < MAX_RECENT_FILES; ++i) { - recent_files_acts[i]->setVisible(false); - } - open_recent_menu->setEnabled(num_recent_files > 0); } void MainWindow::remindSaveChanges() { @@ -606,7 +544,6 @@ void MainWindow::toggleChartsDocking() { } void MainWindow::closeEvent(QCloseEvent *event) { - cleanupAutoSaveFile(); remindSaveChanges(); installDownloadProgressHandler(nullptr); @@ -618,7 +555,7 @@ void MainWindow::closeEvent(QCloseEvent *event) { // save states settings.geometry = saveGeometry(); settings.window_state = saveState(); - if (!can->liveStreaming()) { + if (can && !can->liveStreaming()) { settings.video_splitter_state = video_splitter->saveState(); } settings.message_header_state = messages_widget->saveHeaderState(); diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 77add4d78..9bc94c090 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -20,22 +20,20 @@ class MainWindow : public QMainWindow { Q_OBJECT public: - MainWindow(); + MainWindow(AbstractStream *stream, const QString &dbc_file); void toggleChartsDocking(); void showStatusMessage(const QString &msg, int timeout = 0) { statusBar()->showMessage(msg, timeout); } void loadFile(const QString &fn, SourceSet s = SOURCE_ALL); ChartsWidget *charts_widget = nullptr; public slots: - void openStream(); + void selectAndOpenStream(); + void openStream(AbstractStream *stream, const QString &dbc_file = {}); void closeStream(); void exportToCSV(); - void changingStream(); - void streamStarted(); void newFile(SourceSet s = SOURCE_ALL); void openFile(SourceSet s = SOURCE_ALL); - void openRecentFile(); void loadDBCFromOpendbc(const QString &name); void save(); void saveAs(); @@ -55,10 +53,8 @@ protected: void saveFileToClipboard(DBCFile *dbc_file); void loadFingerprints(); void loadFromClipboard(SourceSet s = SOURCE_ALL, bool close_all = true); - void autoSave(); - void cleanupAutoSaveFile(); void updateRecentFiles(const QString &fn); - void updateRecentFileActions(); + void updateRecentFileMenu(); void createActions(); void createDockWindows(); void createStatusBar(); @@ -70,7 +66,6 @@ protected: void findSimilarBits(); void findSignal(); void undoStackCleanChanged(bool clean); - void undoStackIndexChanged(int index); void onlineHelp(); void toggleFullScreen(); void updateStatus(); @@ -88,10 +83,8 @@ protected: QProgressBar *progress_bar; QLabel *status_label; QJsonDocument fingerprint_to_dbc; - QStringList opendbc_names; QSplitter *video_splitter = nullptr; enum { MAX_RECENT_FILES = 15 }; - QAction *recent_files_acts[MAX_RECENT_FILES] = {}; QMenu *open_recent_menu = nullptr; QMenu *manage_dbcs_menu = nullptr; QMenu *tools_menu = nullptr; @@ -101,8 +94,6 @@ protected: QAction *save_dbc_as = nullptr; QAction *copy_dbc_to_clipboard = nullptr; QString car_fingerprint; - int prev_undostack_index = 0; - int prev_undostack_count = 0; QByteArray default_state; }; diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc index 8288c801b..130b76d50 100644 --- a/tools/cabana/signalview.cc +++ b/tools/cabana/signalview.cc @@ -494,6 +494,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), } void SignalView::setMessage(const MessageId &id) { + max_value_width = 0; filter_edit->clear(); model->setMessage(id); } @@ -617,7 +618,6 @@ void SignalView::updateState(const std::set *msgs) { const auto &last_msg = can->lastMessage(model->msg_id); if (model->rowCount() == 0 || (msgs && !msgs->count(model->msg_id)) || last_msg.dat.size() == 0) return; - int max_value_width = 0; for (auto item : model->root->children) { double value = 0; if (item->sig->getValue(last_msg.dat.data(), last_msg.dat.size(), &value)) { diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h index 6320b9b62..4e746ea10 100644 --- a/tools/cabana/signalview.h +++ b/tools/cabana/signalview.h @@ -135,6 +135,7 @@ private: QTreeView::leaveEvent(event); } }; + int max_value_width = 0; int value_column_width = 0; TreeView *tree; QLabel *sparkline_label; diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index ee6a1143c..9bf80deb9 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -10,11 +10,6 @@ static const int EVENT_NEXT_BUFFER_SIZE = 6 * 1024 * 1024; // 6MB AbstractStream *can = nullptr; -StreamNotifier *StreamNotifier::instance() { - static StreamNotifier notifier; - return ¬ifier; -} - AbstractStream::AbstractStream(QObject *parent) : QObject(parent) { assert(parent != nullptr); event_buffer_ = std::make_unique(EVENT_NEXT_BUFFER_SIZE); @@ -24,12 +19,6 @@ AbstractStream::AbstractStream(QObject *parent) : QObject(parent) { QObject::connect(this, &AbstractStream::seeking, this, [this](double sec) { current_sec_ = sec; }); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &AbstractStream::updateMasks); QObject::connect(dbc(), &DBCManager::maskUpdated, this, &AbstractStream::updateMasks); - QObject::connect(this, &AbstractStream::streamStarted, [this]() { - emit StreamNotifier::instance()->changingStream(); - delete can; - can = this; - emit StreamNotifier::instance()->streamStarted(); - }); } void AbstractStream::updateMasks() { diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index 9e3f92dc5..7ae119bcf 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -96,7 +96,6 @@ signals: void seeking(double sec); void seekedTo(double sec); void timeRangeChanged(const std::optional> &range); - void streamStarted(); void eventsMerged(const MessageEventsMap &events_map); void msgsReceived(const std::set *new_msgs, bool has_new_ids); void sourcesUpdated(const SourceSet &s); @@ -133,15 +132,11 @@ private: class AbstractOpenStreamWidget : public QWidget { Q_OBJECT public: - AbstractOpenStreamWidget(AbstractStream **stream, QWidget *parent = nullptr) : stream(stream), QWidget(parent) {} - virtual bool open() = 0; - virtual QString title() = 0; + AbstractOpenStreamWidget(QWidget *parent = nullptr) : QWidget(parent) {} + virtual AbstractStream *open() = 0; signals: void enableOpenButton(bool); - -protected: - AbstractStream **stream = nullptr; }; class DummyStream : public AbstractStream { @@ -149,17 +144,7 @@ class DummyStream : public AbstractStream { public: DummyStream(QObject *parent) : AbstractStream(parent) {} QString routeName() const override { return tr("No Stream"); } - void start() override { emit streamStarted(); } -}; - -class StreamNotifier : public QObject { - Q_OBJECT -public: - StreamNotifier(QObject *parent = nullptr) : QObject(parent) {} - static StreamNotifier* instance(); -signals: - void streamStarted(); - void changingStream(); + void start() override {} }; // A global pointer referring to the unique AbstractStream object diff --git a/tools/cabana/streams/devicestream.cc b/tools/cabana/streams/devicestream.cc index 80507391a..6de63dfbb 100644 --- a/tools/cabana/streams/devicestream.cc +++ b/tools/cabana/streams/devicestream.cc @@ -33,13 +33,9 @@ void DeviceStream::streamThread() { } } -AbstractOpenStreamWidget *DeviceStream::widget(AbstractStream **stream) { - return new OpenDeviceWidget(stream); -} - // OpenDeviceWidget -OpenDeviceWidget::OpenDeviceWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) { +OpenDeviceWidget::OpenDeviceWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) { QRadioButton *msgq = new QRadioButton(tr("MSGQ")); QRadioButton *zmq = new QRadioButton(tr("ZMQ")); ip_address = new QLineEdit(this); @@ -62,9 +58,8 @@ OpenDeviceWidget::OpenDeviceWidget(AbstractStream **stream) : AbstractOpenStream zmq->setChecked(true); } -bool OpenDeviceWidget::open() { +AbstractStream *OpenDeviceWidget::open() { QString ip = ip_address->text().isEmpty() ? "127.0.0.1" : ip_address->text(); bool msgq = group->checkedId() == 0; - *stream = new DeviceStream(qApp, msgq ? "" : ip); - return true; + return new DeviceStream(qApp, msgq ? "" : ip); } diff --git a/tools/cabana/streams/devicestream.h b/tools/cabana/streams/devicestream.h index a65f07345..3bdf22499 100644 --- a/tools/cabana/streams/devicestream.h +++ b/tools/cabana/streams/devicestream.h @@ -6,7 +6,6 @@ class DeviceStream : public LiveStream { Q_OBJECT public: DeviceStream(QObject *parent, QString address = {}); - static AbstractOpenStreamWidget *widget(AbstractStream **stream); inline QString routeName() const override { return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address); } @@ -20,9 +19,8 @@ class OpenDeviceWidget : public AbstractOpenStreamWidget { Q_OBJECT public: - OpenDeviceWidget(AbstractStream **stream); - bool open() override; - QString title() override { return tr("&Device"); } + OpenDeviceWidget(QWidget *parent = nullptr); + AbstractStream *open() override; private: QLineEdit *ip_address; diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc index 6bcb1c1d5..ac9a6fa10 100644 --- a/tools/cabana/streams/livestream.cc +++ b/tools/cabana/streams/livestream.cc @@ -53,7 +53,6 @@ void LiveStream::startUpdateTimer() { } void LiveStream::start() { - emit streamStarted(); stream_thread->start(); startUpdateTimer(); begin_date_time = QDateTime::currentDateTime(); diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc index 030783a89..cdf6da6d8 100644 --- a/tools/cabana/streams/pandastream.cc +++ b/tools/cabana/streams/pandastream.cc @@ -77,13 +77,9 @@ void PandaStream::streamThread() { } } -AbstractOpenStreamWidget *PandaStream::widget(AbstractStream **stream) { - return new OpenPandaWidget(stream); -} - // OpenPandaWidget -OpenPandaWidget::OpenPandaWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) { +OpenPandaWidget::OpenPandaWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) { form_layout = new QFormLayout(this); if (can && dynamic_cast(can) != nullptr) { form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(can->routeName()))); @@ -182,12 +178,11 @@ void OpenPandaWidget::buildConfigForm() { } } -bool OpenPandaWidget::open() { +AbstractStream *OpenPandaWidget::open() { try { - *stream = new PandaStream(qApp, config); - return true; + return new PandaStream(qApp, config); } catch (std::exception &e) { QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what())); - return false; + return nullptr; } } diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h index ad792ec29..826b1aa98 100644 --- a/tools/cabana/streams/pandastream.h +++ b/tools/cabana/streams/pandastream.h @@ -28,7 +28,6 @@ class PandaStream : public LiveStream { public: PandaStream(QObject *parent, PandaStreamConfig config_ = {}); ~PandaStream() { stop(); } - static AbstractOpenStreamWidget *widget(AbstractStream **stream); inline QString routeName() const override { return QString("Panda: %1").arg(config.serial); } @@ -45,9 +44,8 @@ class OpenPandaWidget : public AbstractOpenStreamWidget { Q_OBJECT public: - OpenPandaWidget(AbstractStream **stream); - bool open() override; - QString title() override { return tr("&Panda"); } + OpenPandaWidget(QWidget *parent = nullptr); + AbstractStream *open() override; private: void refreshSerials(); diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index 09ba3db41..1616f2aec 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -83,11 +83,6 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint return success; } -void ReplayStream::start() { - emit streamStarted(); - replay->start(); -} - bool ReplayStream::eventFilter(const Event *event) { static double prev_update_ts = 0; if (event->which == cereal::Event::Which::CAN) { @@ -115,13 +110,9 @@ void ReplayStream::pause(bool pause) { } -AbstractOpenStreamWidget *ReplayStream::widget(AbstractStream **stream) { - return new OpenReplayWidget(stream); -} - // OpenReplayWidget -OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) { +OpenReplayWidget::OpenReplayWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) { QGridLayout *grid_layout = new QGridLayout(this); grid_layout->addWidget(new QLabel(tr("Route")), 0, 0); grid_layout->addWidget(route_edit = new QLineEdit(this), 0, 1); @@ -154,7 +145,7 @@ OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStream }); } -bool OpenReplayWidget::open() { +AbstractStream *OpenReplayWidget::open() { QString route = route_edit->text(); QString data_dir; if (int idx = route.lastIndexOf('/'); idx != -1 && util::file_exists(route.toStdString())) { @@ -173,8 +164,8 @@ bool OpenReplayWidget::open() { if (flags == REPLAY_FLAG_NONE && !cameras[0]->isChecked()) flags = REPLAY_FLAG_NO_VIPC; if (replay_stream->loadRoute(route, data_dir, flags)) { - *stream = replay_stream.release(); + return replay_stream.release(); } } - return *stream != nullptr; + return nullptr; } diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index 217d1ac1d..25d6ef4a7 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -15,7 +15,7 @@ class ReplayStream : public AbstractStream { public: ReplayStream(QObject *parent); - void start() override; + void start() override { replay->start(); } bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE); bool eventFilter(const Event *event); void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); } @@ -31,7 +31,6 @@ public: inline Replay *getReplay() const { return replay.get(); } inline bool isPaused() const override { return replay->isPaused(); } void pause(bool pause) override; - static AbstractOpenStreamWidget *widget(AbstractStream **stream); private: void mergeSegments(); @@ -44,9 +43,8 @@ class OpenReplayWidget : public AbstractOpenStreamWidget { Q_OBJECT public: - OpenReplayWidget(AbstractStream **stream); - bool open() override; - QString title() override { return tr("&Replay"); } + OpenReplayWidget(QWidget *parent = nullptr); + AbstractStream *open() override; private: QLineEdit *route_edit; diff --git a/tools/cabana/streams/socketcanstream.cc b/tools/cabana/streams/socketcanstream.cc index 0f13b9901..1346a496b 100644 --- a/tools/cabana/streams/socketcanstream.cc +++ b/tools/cabana/streams/socketcanstream.cc @@ -66,11 +66,7 @@ void SocketCanStream::streamThread() { } } -AbstractOpenStreamWidget *SocketCanStream::widget(AbstractStream **stream) { - return new OpenSocketCanWidget(stream); -} - -OpenSocketCanWidget::OpenSocketCanWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) { +OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->addStretch(1); @@ -104,12 +100,11 @@ void OpenSocketCanWidget::refreshDevices() { } -bool OpenSocketCanWidget::open() { +AbstractStream *OpenSocketCanWidget::open() { try { - *stream = new SocketCanStream(qApp, config); + return new SocketCanStream(qApp, config); } catch (std::exception &e) { QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to SocketCAN device: '%1'").arg(e.what())); - return false; + return nullptr; } - return true; } diff --git a/tools/cabana/streams/socketcanstream.h b/tools/cabana/streams/socketcanstream.h index 952f1aaa5..8083b687e 100644 --- a/tools/cabana/streams/socketcanstream.h +++ b/tools/cabana/streams/socketcanstream.h @@ -18,7 +18,6 @@ class SocketCanStream : public LiveStream { public: SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {}); ~SocketCanStream() { stop(); } - static AbstractOpenStreamWidget *widget(AbstractStream **stream); static bool available(); inline QString routeName() const override { @@ -37,9 +36,8 @@ class OpenSocketCanWidget : public AbstractOpenStreamWidget { Q_OBJECT public: - OpenSocketCanWidget(AbstractStream **stream); - bool open() override; - QString title() override { return tr("&SocketCAN"); } + OpenSocketCanWidget(QWidget *parent = nullptr); + AbstractStream *open() override; private: void refreshDevices(); diff --git a/tools/cabana/streamselector.cc b/tools/cabana/streamselector.cc index 209b577c9..efd00d398 100644 --- a/tools/cabana/streamselector.cc +++ b/tools/cabana/streamselector.cc @@ -10,7 +10,7 @@ #include "tools/cabana/streams/replaystream.h" #include "tools/cabana/streams/socketcanstream.h" -StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDialog(parent) { +StreamSelector::StreamSelector(QWidget *parent) : QDialog(parent) { setWindowTitle(tr("Open stream")); QVBoxLayout *layout = new QVBoxLayout(this); tab = new QTabWidget(this); @@ -33,17 +33,17 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel); layout->addWidget(btn_box); - addStreamWidget(ReplayStream::widget(stream)); - addStreamWidget(PandaStream::widget(stream)); + addStreamWidget(new OpenReplayWidget, tr("&Replay")); + addStreamWidget(new OpenPandaWidget, tr("&Panda")); if (SocketCanStream::available()) { - addStreamWidget(SocketCanStream::widget(stream)); + addStreamWidget(new OpenSocketCanWidget, tr("&SocketCAN")); } - addStreamWidget(DeviceStream::widget(stream)); + addStreamWidget(new OpenDeviceWidget, tr("&Device")); QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject); QObject::connect(btn_box, &QDialogButtonBox::accepted, [=]() { setEnabled(false); - if (((AbstractOpenStreamWidget *)tab->currentWidget())->open()) { + if (stream_ = ((AbstractOpenStreamWidget *)tab->currentWidget())->open(); stream_) { accept(); } setEnabled(true); @@ -57,8 +57,8 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial }); } -void StreamSelector::addStreamWidget(AbstractOpenStreamWidget *w) { - tab->addTab(w, w->title()); +void StreamSelector::addStreamWidget(AbstractOpenStreamWidget *w, const QString &title) { + tab->addTab(w, title); auto open_btn = btn_box->button(QDialogButtonBox::Open); QObject::connect(w, &AbstractOpenStreamWidget::enableOpenButton, open_btn, &QPushButton::setEnabled); } diff --git a/tools/cabana/streamselector.h b/tools/cabana/streamselector.h index a702fc76a..0919195e4 100644 --- a/tools/cabana/streamselector.h +++ b/tools/cabana/streamselector.h @@ -11,11 +11,13 @@ class StreamSelector : public QDialog { Q_OBJECT public: - StreamSelector(AbstractStream **stream, QWidget *parent = nullptr); - void addStreamWidget(AbstractOpenStreamWidget *w); + StreamSelector(QWidget *parent = nullptr); + void addStreamWidget(AbstractOpenStreamWidget *w, const QString &title); QString dbcFile() const { return dbc_file->text(); } + AbstractStream *stream() const { return stream_; } private: + AbstractStream *stream_ = nullptr; QLineEdit *dbc_file; QTabWidget *tab; QDialogButtonBox *btn_box; diff --git a/tools/plotjuggler/layouts/torque-controller.xml b/tools/plotjuggler/layouts/torque-controller.xml index d6e4684d6..b4edfdcc1 100644 --- a/tools/plotjuggler/layouts/torque-controller.xml +++ b/tools/plotjuggler/layouts/torque-controller.xml @@ -1,45 +1,193 @@ - - + + - - - - + + + + - - + + - - - + + + - - + + - - - + + + - - - + + + - - + + - - - + + + - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -57,24 +205,10 @@ - + - return value * 3.6 - /carState/vEgo - - - - return value * 2.23694 - /carState/vEgo - - - - return (value * v1 ^ 2) - (v2 * 9.81) - /controlsState/desiredCurvature - - /carState/vEgo - /liveParameters/roll - + return (0) + /carState/canValid @@ -85,6 +219,25 @@ /liveParameters/roll + + + return (value * v1 ^ 2) - (v2 * 9.81) + /controlsState/desiredCurvature + + /carState/vEgo + /liveParameters/roll + + + + + return value * 2.23694 + /carState/vEgo + + + + return value * 3.6 + /carState/vEgo + diff --git a/tools/replay/README.md b/tools/replay/README.md index 91e89176a..122af7152 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -19,8 +19,10 @@ tools/replay/replay --demo # watch the replay with the normal openpilot UI cd selfdrive/ui && ./ui -# or try out a debug visualizer: -python replay/ui.py +# or try out radar point visualization in Rerun: +python replay/rp_visualization.py + +# NOTE: To visualize radar points, make sure tools/replay/replay is running. ``` ## usage @@ -34,10 +36,21 @@ Options: -h, --help Displays this help. -a, --allow whitelist of services to send -b, --block blacklist of services to send + -c, --cache cache segments in memory. default is 5 -s, --start start from + -x playback . between 0.2 - 3 --demo use a demo route instead of providing your own + --data_dir local directory with routes + --prefix set OPENPILOT_PREFIX --dcam load driver camera --ecam load wide road camera + --no-loop stop at the end of the route + --no-cache turn off local cache + --qcam load qcamera + --no-hw-decoder disable HW video decoding + --no-vipc do not output video + --all do output all messages including uiDebug, userFlag. + this may causes issues when used along with UI Arguments: route the drive to replay. find your drives at diff --git a/tools/replay/lib/rp_helpers.py b/tools/replay/lib/rp_helpers.py new file mode 100644 index 000000000..95eef9d23 --- /dev/null +++ b/tools/replay/lib/rp_helpers.py @@ -0,0 +1,108 @@ +import numpy as np +from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA + +# Color palette used for rerun AnnotationContext +rerunColorPalette = [(96, "red", (255, 0, 0)), + (100, "pink", (255, 36, 0)), + (124, "yellow", (255, 255, 0)), + (230, "vibrantpink", (255, 36, 170)), + (240, "orange", (255, 146, 0)), + (255, "white", (255, 255, 255)), + (110, "carColor", (255,0,127))] + + +class UIParams: + lidar_x, lidar_y, lidar_zoom = 384, 960, 6 + lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1 + car_hwidth = 1.7272 / 2 * lidar_zoom + car_front = 2.6924 * lidar_zoom + car_back = 1.8796 * lidar_zoom + car_color = rerunColorPalette[6][0] +UP = UIParams + + +def to_topdown_pt(y, x): + px, py = x * UP.lidar_zoom + UP.lidar_car_x, -y * UP.lidar_zoom + UP.lidar_car_y + if px > 0 and py > 0 and px < UP.lidar_x and py < UP.lidar_y: + return int(px), int(py) + return -1, -1 + + +def draw_path(path, lid_overlay, lid_color=None): + x, y = np.asarray(path.x), np.asarray(path.y) + # draw lidar path point on lidar + if lid_color is not None and lid_overlay is not None: + for i in range(len(x)): + px, py = to_topdown_pt(x[i], y[i]) + if px != -1: + lid_overlay[px, py] = lid_color + + +def plot_model(m, lid_overlay): + if lid_overlay is None: + return + for lead in m.leadsV3: + if lead.prob < 0.5: + continue + x, y = lead.x[0], lead.y[0] + x_std = lead.xStd[0] + x -= RADAR_TO_CAMERA + _, py_top = to_topdown_pt(x + x_std, y) + px, py_bottom = to_topdown_pt(x - x_std, y) + lid_overlay[int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = rerunColorPalette[2][0] + + for path in m.laneLines: + draw_path(path, lid_overlay, rerunColorPalette[2][0]) + for edge in m.roadEdges: + draw_path(edge, lid_overlay, rerunColorPalette[0][0]) + draw_path(m.position, lid_overlay, rerunColorPalette[0][0]) + + +def plot_lead(rs, lid_overlay): + for lead in [rs.leadOne, rs.leadTwo]: + if not lead.status: + continue + x = lead.dRel + px_left, py = to_topdown_pt(x, -10) + px_right, _ = to_topdown_pt(x, 10) + lid_overlay[px_left:px_right, py] = rerunColorPalette[0][0] + + +def maybe_update_radar_points(lt, lid_overlay): + ar_pts = [] + if lt is not None: + ar_pts = {} + for track in lt: + ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel, track.oncoming, track.stationary] + for ids, pt in ar_pts.items(): + # negative here since radar is left positive + px, py = to_topdown_pt(pt[0], -pt[1]) + if px != -1: + if pt[-1]: + color = rerunColorPalette[4][0] + elif pt[-2]: + color = rerunColorPalette[3][0] + else: + color = rerunColorPalette[5][0] + if int(ids) == 1: + lid_overlay[px - 2:px + 2, py - 10:py + 10] = rerunColorPalette[1][0] + else: + lid_overlay[px - 2:px + 2, py - 2:py + 2] = color + + +def get_blank_lid_overlay(UP): + lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8') + # Draw the car. + lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int( + round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y - + UP.car_front))] = UP.car_color + lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int( + round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y + + UP.car_back))] = UP.car_color + lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int( + round(UP.lidar_car_y - UP.car_front)):int(round( + UP.lidar_car_y + UP.car_back))] = UP.car_color + lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int( + round(UP.lidar_car_y - UP.car_front)):int(round( + UP.lidar_car_y + UP.car_back))] = UP.car_color + return lid_overlay diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py deleted file mode 100644 index 11b5182a6..000000000 --- a/tools/replay/lib/ui_helpers.py +++ /dev/null @@ -1,231 +0,0 @@ -import itertools -from typing import Any - -import matplotlib.pyplot as plt -import numpy as np -import pygame - -from matplotlib.backends.backend_agg import FigureCanvasAgg - -from openpilot.common.transformations.camera import get_view_frame_from_calib_frame -from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA - - -RED = (255, 0, 0) -GREEN = (0, 255, 0) -BLUE = (0, 0, 255) -YELLOW = (255, 255, 0) -BLACK = (0, 0, 0) -WHITE = (255, 255, 255) - -class UIParams: - lidar_x, lidar_y, lidar_zoom = 384, 960, 6 - lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1 - car_hwidth = 1.7272 / 2 * lidar_zoom - car_front = 2.6924 * lidar_zoom - car_back = 1.8796 * lidar_zoom - car_color = 110 -UP = UIParams - -METER_WIDTH = 20 - -class Calibration: - def __init__(self, num_px, rpy, intrinsic, calib_scale): - self.intrinsic = intrinsic - self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:,:3] - self.zoom = calib_scale - - def car_space_to_ff(self, x, y, z): - car_space_projective = np.column_stack((x, y, z)).T - - ep = self.extrinsics_matrix.dot(car_space_projective) - kep = self.intrinsic.dot(ep) - return (kep[:-1, :] / kep[-1, :]).T - - def car_space_to_bb(self, x, y, z): - pts = self.car_space_to_ff(x, y, z) - return pts / self.zoom - - -_COLOR_CACHE : dict[tuple[int, int, int], Any] = {} -def find_color(lidar_surface, color): - if color in _COLOR_CACHE: - return _COLOR_CACHE[color] - tcolor = 0 - ret = 255 - for x in lidar_surface.get_palette(): - if x[0:3] == color: - ret = tcolor - break - tcolor += 1 - _COLOR_CACHE[color] = ret - return ret - - -def to_topdown_pt(y, x): - px, py = x * UP.lidar_zoom + UP.lidar_car_x, -y * UP.lidar_zoom + UP.lidar_car_y - if px > 0 and py > 0 and px < UP.lidar_x and py < UP.lidar_y: - return int(px), int(py) - return -1, -1 - - -def draw_path(path, color, img, calibration, top_down, lid_color=None, z_off=0): - x, y, z = np.asarray(path.x), np.asarray(path.y), np.asarray(path.z) + z_off - pts = calibration.car_space_to_bb(x, y, z) - pts = np.round(pts).astype(int) - - # draw lidar path point on lidar - # find color in 8 bit - if lid_color is not None and top_down is not None: - tcolor = find_color(top_down[0], lid_color) - for i in range(len(x)): - px, py = to_topdown_pt(x[i], y[i]) - if px != -1: - top_down[1][px, py] = tcolor - - height, width = img.shape[:2] - for x, y in pts: - if 1 < x < width - 1 and 1 < y < height - 1: - for a, b in itertools.permutations([-1, 0, -1], 2): - img[y + a, x + b] = color - - -def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles): - color_palette = { "r": (1, 0, 0), - "g": (0, 1, 0), - "b": (0, 0, 1), - "k": (0, 0, 0), - "y": (1, 1, 0), - "p": (0, 1, 1), - "m": (1, 0, 1)} - - dpi = 90 - fig = plt.figure(figsize=(575 / dpi, 600 / dpi), dpi=dpi) - canvas = FigureCanvasAgg(fig) - - fig.set_facecolor((0.2, 0.2, 0.2)) - - axs = [] - for pn in range(len(plot_ylims)): - ax = fig.add_subplot(len(plot_ylims), 1, len(axs)+1) - ax.set_xlim(plot_xlims[pn][0], plot_xlims[pn][1]) - ax.set_ylim(plot_ylims[pn][0], plot_ylims[pn][1]) - ax.patch.set_facecolor((0.4, 0.4, 0.4)) - axs.append(ax) - - plots, idxs, plot_select = [], [], [] - for i, pl_list in enumerate(plot_names): - for j, item in enumerate(pl_list): - plot, = axs[i].plot(arr[:, name_to_arr_idx[item]], - label=item, - color=color_palette[plot_colors[i][j]], - linestyle=plot_styles[i][j]) - plots.append(plot) - idxs.append(name_to_arr_idx[item]) - plot_select.append(i) - axs[i].set_title(", ".join(f"{nm} ({cl})" - for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10) - axs[i].tick_params(axis="x", colors="white") - axs[i].tick_params(axis="y", colors="white") - axs[i].title.set_color("white") - - if i < len(plot_ylims) - 1: - axs[i].set_xticks([]) - - canvas.draw() - - def draw_plots(arr): - for ax in axs: - ax.draw_artist(ax.patch) - for i in range(len(plots)): - plots[i].set_ydata(arr[:, idxs[i]]) - axs[plot_select[i]].draw_artist(plots[i]) - - raw_data = canvas.buffer_rgba() - plot_surface = pygame.image.frombuffer(raw_data, canvas.get_width_height(), "RGBA").convert() - return plot_surface - - return draw_plots - - -def pygame_modules_have_loaded(): - return pygame.display.get_init() and pygame.font.get_init() - - -def plot_model(m, img, calibration, top_down): - if calibration is None or top_down is None: - return - - for lead in m.leadsV3: - if lead.prob < 0.5: - continue - - x, y = lead.x[0], lead.y[0] - x_std = lead.xStd[0] - x -= RADAR_TO_CAMERA - - _, py_top = to_topdown_pt(x + x_std, y) - px, py_bottom = to_topdown_pt(x - x_std, y) - top_down[1][int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = find_color(top_down[0], YELLOW) - - for path, prob, _ in zip(m.laneLines, m.laneLineProbs, m.laneLineStds, strict=True): - color = (0, int(255 * prob), 0) - draw_path(path, color, img, calibration, top_down, YELLOW) - - for edge, std in zip(m.roadEdges, m.roadEdgeStds, strict=True): - prob = max(1 - std, 0) - color = (int(255 * prob), 0, 0) - draw_path(edge, color, img, calibration, top_down, RED) - - color = (255, 0, 0) - draw_path(m.position, color, img, calibration, top_down, RED, 1.22) - - -def plot_lead(rs, top_down): - for lead in [rs.leadOne, rs.leadTwo]: - if not lead.status: - continue - - x = lead.dRel - px_left, py = to_topdown_pt(x, -10) - px_right, _ = to_topdown_pt(x, 10) - top_down[1][px_left:px_right, py] = find_color(top_down[0], RED) - - -def maybe_update_radar_points(lt, lid_overlay): - ar_pts = [] - if lt is not None: - ar_pts = {} - for track in lt: - ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel, track.oncoming, track.stationary] - for ids, pt in ar_pts.items(): - # negative here since radar is left positive - px, py = to_topdown_pt(pt[0], -pt[1]) - if px != -1: - if pt[-1]: - color = 240 - elif pt[-2]: - color = 230 - else: - color = 255 - if int(ids) == 1: - lid_overlay[px - 2:px + 2, py - 10:py + 10] = 100 - else: - lid_overlay[px - 2:px + 2, py - 2:py + 2] = color - -def get_blank_lid_overlay(UP): - lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8') - # Draw the car. - lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int( - round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y - - UP.car_front))] = UP.car_color - lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int( - round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y + - UP.car_back))] = UP.car_color - lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int( - round(UP.lidar_car_y - UP.car_front)):int(round( - UP.lidar_car_y + UP.car_back))] = UP.car_color - lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int( - round(UP.lidar_car_y - UP.car_front)):int(round( - UP.lidar_car_y + UP.car_back))] = UP.car_color - return lid_overlay diff --git a/tools/replay/rp_visualization.py b/tools/replay/rp_visualization.py new file mode 100755 index 000000000..853a83c15 --- /dev/null +++ b/tools/replay/rp_visualization.py @@ -0,0 +1,59 @@ +#!/usr/bin/env python3 +import argparse +import os +import sys +import numpy as np +import rerun as rr +import cereal.messaging as messaging +from openpilot.common.basedir import BASEDIR +from openpilot.tools.replay.lib.rp_helpers import (UP, rerunColorPalette, + get_blank_lid_overlay, + maybe_update_radar_points, plot_lead, + plot_model) +from msgq.visionipc import VisionIpcClient, VisionStreamType + +os.environ['BASEDIR'] = BASEDIR + +UP.lidar_zoom = 6 + +def visualize(addr): + sm = messaging.SubMaster(['radarState', 'liveTracks', 'modelV2'], addr=addr) + vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True) + while True: + if not vipc_client.is_connected(): + vipc_client.connect(True) + new_data = vipc_client.recv() + if new_data is None or not new_data.data.any(): + continue + + sm.update(0) + lid_overlay = get_blank_lid_overlay(UP) + if sm.recv_frame['modelV2']: + plot_model(sm['modelV2'], lid_overlay) + if sm.recv_frame['radarState']: + plot_lead(sm['radarState'], lid_overlay) + liveTracksTime = sm.logMonoTime['liveTracks'] + maybe_update_radar_points(sm['liveTracks'], lid_overlay) + rr.set_time_nanos("TIMELINE", liveTracksTime) + rr.log("tracks", rr.SegmentationImage(np.flip(np.rot90(lid_overlay, k=-1), axis=1))) + + +def get_arg_parser(): + parser = argparse.ArgumentParser( + description="Show replay data in a UI.", + formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser.add_argument("ip_address", nargs="?", default="127.0.0.1", + help="The ip address on which to receive zmq messages.") + parser.add_argument("--frame-address", default=None, + help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.") + return parser + + +if __name__ == "__main__": + args = get_arg_parser().parse_args(sys.argv[1:]) + if args.ip_address != "127.0.0.1": + os.environ["ZMQ"] = "1" + messaging.context = messaging.Context() + rr.init("RadarPoints", spawn= True) + rr.log("tracks", rr.AnnotationContext(rerunColorPalette), static=True) + visualize(args.ip_address) diff --git a/tools/replay/ui.py b/tools/replay/ui.py deleted file mode 100755 index b1fe70ef3..000000000 --- a/tools/replay/ui.py +++ /dev/null @@ -1,238 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import os -import sys - -import cv2 -import numpy as np -import pygame - -import cereal.messaging as messaging -from openpilot.common.numpy_fast import clip -from openpilot.common.basedir import BASEDIR -from openpilot.common.transformations.camera import DEVICE_CAMERAS -from openpilot.tools.replay.lib.ui_helpers import (UP, - BLACK, GREEN, - YELLOW, Calibration, - get_blank_lid_overlay, init_plots, - maybe_update_radar_points, plot_lead, - plot_model, - pygame_modules_have_loaded) -from msgq.visionipc import VisionIpcClient, VisionStreamType - -os.environ['BASEDIR'] = BASEDIR - -ANGLE_SCALE = 5.0 - -def ui_thread(addr): - cv2.setNumThreads(1) - pygame.init() - pygame.font.init() - assert pygame_modules_have_loaded() - - disp_info = pygame.display.Info() - max_height = disp_info.current_h - - hor_mode = os.getenv("HORIZONTAL") is not None - hor_mode = True if max_height < 960+300 else hor_mode - - if hor_mode: - size = (640+384+640, 960) - write_x = 5 - write_y = 680 - else: - size = (640+384, 960+300) - write_x = 645 - write_y = 970 - - pygame.display.set_caption("openpilot debug UI") - screen = pygame.display.set_mode(size, pygame.DOUBLEBUF) - - alert1_font = pygame.font.SysFont("arial", 30) - alert2_font = pygame.font.SysFont("arial", 20) - info_font = pygame.font.SysFont("arial", 15) - - camera_surface = pygame.surface.Surface((640, 480), 0, 24).convert() - top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8) - - sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState', - 'liveTracks', 'modelV2', 'liveParameters', 'roadCameraState'], addr=addr) - - img = np.zeros((480, 640, 3), dtype='uint8') - imgff = None - num_px = 0 - calibration = None - - lid_overlay_blank = get_blank_lid_overlay(UP) - - # plots - name_to_arr_idx = { "gas": 0, - "computer_gas": 1, - "user_brake": 2, - "computer_brake": 3, - "v_ego": 4, - "v_pid": 5, - "angle_steers_des": 6, - "angle_steers": 7, - "angle_steers_k": 8, - "steer_torque": 9, - "v_override": 10, - "v_cruise": 11, - "a_ego": 12, - "a_target": 13} - - plot_arr = np.zeros((100, len(name_to_arr_idx.values()))) - - plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])] - plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0., 75.), (-3.0, 2.0)] - plot_names = [["gas", "computer_gas", "user_brake", "computer_brake"], - ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"], - ["v_ego", "v_override", "v_pid", "v_cruise"], - ["a_ego", "a_target"]] - plot_colors = [["b", "b", "g", "r", "y"], - ["b", "g", "y", "r"], - ["b", "g", "r", "y"], - ["b", "r"]] - plot_styles = [["-", "-", "-", "-", "-"], - ["-", "-", "-", "-"], - ["-", "-", "-", "-"], - ["-", "-"]] - - draw_plots = init_plots(plot_arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles) - - vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True) - while True: - for event in pygame.event.get(): - if event.type == pygame.QUIT: - pygame.quit() - sys.exit() - - screen.fill((64, 64, 64)) - lid_overlay = lid_overlay_blank.copy() - top_down = top_down_surface, lid_overlay - - # ***** frame ***** - if not vipc_client.is_connected(): - vipc_client.connect(True) - - yuv_img_raw = vipc_client.recv() - if yuv_img_raw is None or not yuv_img_raw.data.any(): - continue - - sm.update(0) - - camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))] - - imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride)) - num_px = vipc_client.width * vipc_client.height - rgb = cv2.cvtColor(imgff[:vipc_client.height * 3 // 2, :vipc_client.width], cv2.COLOR_YUV2RGB_NV12) - - qcam = "QCAM" in os.environ - bb_scale = (528 if qcam else camera.fcam.width) / 640. - calib_scale = camera.fcam.width / 640. - zoom_matrix = np.asarray([ - [bb_scale, 0., 0.], - [0., bb_scale, 0.], - [0., 0., 1.]]) - cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP) - - intrinsic_matrix = camera.fcam.intrinsics - - w = sm['controlsState'].lateralControlState.which() - if w == 'lqrStateDEPRECATED': - angle_steers_k = sm['controlsState'].lateralControlState.lqrStateDEPRECATED.steeringAngleDeg - elif w == 'indiState': - angle_steers_k = sm['controlsState'].lateralControlState.indiState.steeringAngleDeg - else: - angle_steers_k = np.inf - - plot_arr[:-1] = plot_arr[1:] - plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg - plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg - plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k - plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas - # TODO gas is deprecated - plot_arr[-1, name_to_arr_idx['computer_gas']] = clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0) - plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake - plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.steer * ANGLE_SCALE - # TODO brake is deprecated - plot_arr[-1, name_to_arr_idx['computer_brake']] = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0) - plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo - plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed - plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo - - if len(sm['longitudinalPlan'].accels): - plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0] - - if sm.recv_frame['modelV2']: - plot_model(sm['modelV2'], img, calibration, top_down) - - if sm.recv_frame['radarState']: - plot_lead(sm['radarState'], top_down) - - # draw all radar points - maybe_update_radar_points(sm['liveTracks'], top_down[1]) - - if sm.updated['liveCalibration'] and num_px: - rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib) - calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale) - - # *** blits *** - pygame.surfarray.blit_array(camera_surface, img.swapaxes(0, 1)) - screen.blit(camera_surface, (0, 0)) - - # display alerts - alert_line1 = alert1_font.render(sm['controlsState'].alertText1, True, (255, 0, 0)) - alert_line2 = alert2_font.render(sm['controlsState'].alertText2, True, (255, 0, 0)) - screen.blit(alert_line1, (180, 150)) - screen.blit(alert_line2, (180, 190)) - - if hor_mode: - screen.blit(draw_plots(plot_arr), (640+384, 0)) - else: - screen.blit(draw_plots(plot_arr), (0, 600)) - - pygame.surfarray.blit_array(*top_down) - screen.blit(top_down[0], (640, 0)) - - SPACING = 25 - - lines = [ - info_font.render("ENABLED", True, GREEN if sm['controlsState'].enabled else BLACK), - info_font.render("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", True, YELLOW), - info_font.render("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), True, YELLOW), - info_font.render("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), True, YELLOW), - None, - info_font.render("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", True, YELLOW), - info_font.render("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg", True, YELLOW), - info_font.render("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100., 2)) + " %", True, YELLOW), - info_font.render("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), True, YELLOW) - ] - - for i, line in enumerate(lines): - if line is not None: - screen.blit(line, (write_x, write_y + i * SPACING)) - - # this takes time...vsync or something - pygame.display.flip() - -def get_arg_parser(): - parser = argparse.ArgumentParser( - description="Show replay data in a UI.", - formatter_class=argparse.ArgumentDefaultsHelpFormatter) - - parser.add_argument("ip_address", nargs="?", default="127.0.0.1", - help="The ip address on which to receive zmq messages.") - - parser.add_argument("--frame-address", default=None, - help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.") - return parser - -if __name__ == "__main__": - args = get_arg_parser().parse_args(sys.argv[1:]) - - if args.ip_address != "127.0.0.1": - os.environ["ZMQ"] = "1" - messaging.context = messaging.Context() - - ui_thread(args.ip_address) diff --git a/tools/setup.sh b/tools/setup.sh new file mode 100755 index 000000000..22d10be80 --- /dev/null +++ b/tools/setup.sh @@ -0,0 +1,32 @@ +#!/usr/bin/env bash + +set -e + +if [ ! -f launch_openpilot.sh ]; then + if [ ! -d openpilot ]; then + git clone --single-branch --recurse-submodules https://github.com/commaai/openpilot.git + fi + cd openpilot +fi + +if [[ "$OSTYPE" == "darwin"* ]]; then + tools/mac_setup.sh +else + tools/ubuntu_setup.sh +fi + +git lfs pull + +source .venv/bin/activate + +echo "Building openpilot" +scons -u -j$(nproc) + +echo +echo "---- OPENPILOT BUILDING DONE ----" +echo "To push changes to your fork, run the following commands:" +echo "git remote remove origin" +echo "git remote add origin git@github.com:/openpilot.git" +echo "git fetch" +echo "git commit -m \"first commit\"" +echo "git push" diff --git a/uv.lock b/uv.lock index 2797eee62..873d38880 100644 --- a/uv.lock +++ b/uv.lock @@ -5,7 +5,6 @@ requires-python = ">=3.11" name = "aiohttp" version = "3.9.5" source = { registry = 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