diff --git a/.github/workflows/auto-cache/action.yaml b/.github/workflows/auto-cache/action.yaml index 377b1eedc..42c8f8fd2 100644 --- a/.github/workflows/auto-cache/action.yaml +++ b/.github/workflows/auto-cache/action.yaml @@ -52,7 +52,4 @@ runs: # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps - id: scons-cache-setup shell: bash - run: | - mkdir -p ${{ inputs.path }} - sudo chmod -R 777 ${{ inputs.path }} - sudo chown -R $USER ${{ inputs.path }} + run: mkdir -p ${{ inputs.path }} diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml index 2d9ba46d0..c0a1b933e 100644 --- a/.github/workflows/badges.yaml +++ b/.github/workflows/badges.yaml @@ -5,9 +5,7 @@ on: workflow_dispatch: env: - BASE_IMAGE: sunnypilot-base - DOCKER_REGISTRY: ghcr.io/sunnypilot - RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c + PYTHONPATH: ${{ github.workspace }} jobs: badges: @@ -23,7 +21,7 @@ jobs: - uses: ./.github/workflows/setup-with-retry - name: Push badges run: | - ${{ env.RUN }} "python3 selfdrive/ui/translations/create_badges.py" + python3 selfdrive/ui/translations/create_badges.py rm .gitattributes diff --git a/.github/workflows/cereal_validation.yaml b/.github/workflows/cereal_validation.yaml index 2290481c5..87cd800ee 100644 --- a/.github/workflows/cereal_validation.yaml +++ b/.github/workflows/cereal_validation.yaml @@ -20,27 +20,23 @@ concurrency: cancel-in-progress: true env: - PYTHONWARNINGS: error - BASE_IMAGE: openpilot-base - BUILD: selfdrive/test/docker_build.sh base - RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c + CI: 1 jobs: generate_cereal_artifact: name: Generate cereal validation artifacts runs-on: ubuntu-24.04 steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v6 with: submodules: true - uses: ./.github/workflows/setup-with-retry - name: Build openpilot - run: ${{ env.RUN }} "scons -j$(nproc) cereal" + run: scons -j$(nproc) cereal - name: Generate the log file run: | - ${{ env.RUN }} "cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin" && \ - ls -la - ls -la cereal/messaging/tests + export PYTHONPATH=${{ github.workspace }} + python3 cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin - name: 'Prepare artifact' run: | mkdir -p "cereal/messaging/tests/cereal_validations" @@ -57,20 +53,26 @@ jobs: runs-on: ubuntu-24.04 needs: generate_cereal_artifact steps: - - uses: actions/checkout@v4 + - name: Checkout sunnypilot + uses: actions/checkout@v6 + - name: Checkout upstream openpilot + uses: actions/checkout@v6 with: repository: 'commaai/openpilot' + path: openpilot submodules: true ref: "refs/heads/master" - uses: ./.github/workflows/setup-with-retry - name: Build openpilot - run: ${{ env.RUN }} "scons -j$(nproc) cereal" + working-directory: openpilot + run: scons -j$(nproc) cereal - name: Download build artifacts uses: actions/download-artifact@v4 with: name: cereal_validations - path: cereal/messaging/tests/cereal_validations + path: openpilot/cereal/messaging/tests/cereal_validations - name: 'Run the validation' run: | - chmod +x cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py - ${{ env.RUN }} "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f cereal/messaging/tests/cereal_validations/schema_instances.bin" + export PYTHONPATH=${{ github.workspace }}/openpilot + chmod +x openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py + python3 openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f openpilot/cereal/messaging/tests/cereal_validations/schema_instances.bin diff --git a/.github/workflows/compile-openpilot/action.yaml b/.github/workflows/compile-openpilot/action.yaml index 4015746c0..627b4845a 100644 --- a/.github/workflows/compile-openpilot/action.yaml +++ b/.github/workflows/compile-openpilot/action.yaml @@ -6,16 +6,16 @@ runs: - shell: bash name: Build openpilot with all flags run: | - ${{ env.RUN }} "scons -j$(nproc)" - ${{ env.RUN }} "release/check-dirty.sh" + scons -j$(nproc) + release/check-dirty.sh - shell: bash name: Cleanup scons cache and rebuild run: | - ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \ - scons -j$(nproc) --cache-populate" + rm -rf /tmp/scons_cache/* + scons -j$(nproc) --cache-populate - name: Save scons cache uses: actions/cache/save@v4 if: github.ref == 'refs/heads/master' with: - path: .ci_cache/scons_cache + path: /tmp/scons_cache key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} diff --git a/.github/workflows/mici_raylib_ui_preview.yaml b/.github/workflows/mici_raylib_ui_preview.yaml deleted file mode 100644 index fa51666bb..000000000 --- a/.github/workflows/mici_raylib_ui_preview.yaml +++ /dev/null @@ -1,151 +0,0 @@ -name: "mici raylib ui preview" -on: - push: - branches: - - master - pull_request_target: - types: [assigned, opened, synchronize, reopened, edited] - branches: - - 'master' - paths: - - 'selfdrive/assets/**' - - 'selfdrive/ui/**' - - 'system/ui/**' - workflow_dispatch: - -env: - UI_JOB_NAME: "Create mici raylib UI Report" - REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }} - SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }} - BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-mici-raylib-ui" - MASTER_BRANCH_NAME: "openpilot_master_ui_mici_raylib" - # All report files are pushed here - REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports" - -jobs: - preview: - if: github.repository == 'sunnypilot/sunnypilot' - name: preview - runs-on: ubuntu-latest - timeout-minutes: 20 - permissions: - contents: read - pull-requests: write - actions: read - steps: - - uses: actions/checkout@v6 - with: - submodules: true - - - name: Waiting for ui generation to end - uses: lewagon/wait-on-check-action@v1.3.4 - with: - ref: ${{ env.SHA }} - check-name: ${{ env.UI_JOB_NAME }} - repo-token: ${{ secrets.GITHUB_TOKEN }} - allowed-conclusions: success - wait-interval: 20 - - - name: Getting workflow run ID - id: get_run_id - run: | - echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?[0-9]+)") | .number')" >> $GITHUB_OUTPUT - - - name: Getting proposed ui # filename: pr_ui/mici_ui_replay.mp4 - id: download-artifact - uses: dawidd6/action-download-artifact@v6 - with: - github_token: ${{ secrets.GITHUB_TOKEN }} - run_id: ${{ steps.get_run_id.outputs.run_id }} - search_artifacts: true - name: mici-raylib-report-1-${{ env.REPORT_NAME }} - path: ${{ github.workspace }}/pr_ui - - - name: Getting master ui # filename: master_ui_raylib/mici_ui_replay.mp4 - uses: actions/checkout@v6 - with: - repository: sunnypilot/ci-artifacts - ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }} - path: ${{ github.workspace }}/master_ui_raylib - ref: ${{ env.MASTER_BRANCH_NAME }} - - - name: Saving new master ui - if: github.ref == 'refs/heads/master' && github.event_name == 'push' - working-directory: ${{ github.workspace }}/master_ui_raylib - run: | - git checkout --orphan=new_master_ui_mici_raylib - git rm -rf * - git branch -D ${{ env.MASTER_BRANCH_NAME }} - git branch -m ${{ env.MASTER_BRANCH_NAME }} - git config user.name "GitHub Actions Bot" - git config user.email "<>" - mv ${{ github.workspace }}/pr_ui/* . - git add . - git commit -m "mici raylib video for commit ${{ env.SHA }}" - git push origin ${{ env.MASTER_BRANCH_NAME }} --force - - - name: Setup FFmpeg - uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae - - - name: Finding diff - if: github.event_name == 'pull_request_target' - id: find_diff - run: | - # Find the video file from PR - pr_video="${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" - mv "${{ github.workspace }}/pr_ui/mici_ui_replay.mp4" "$pr_video" - - master_video="${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" - mv "${{ github.workspace }}/master_ui_raylib/mici_ui_replay.mp4" "$master_video" - - # Run report - export PYTHONPATH=${{ github.workspace }} - baseurl="https://github.com/sunnypilot/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}" - diff_exit_code=0 - python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py "${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" "${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" "diff.html" --basedir "$baseurl" --no-open || diff_exit_code=$? - - # Copy diff report files - cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html ${{ github.workspace }}/pr_ui/ - cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.mp4 ${{ github.workspace }}/pr_ui/ - - REPORT_URL="https://sunnypilot.github.io/ci-artifacts/diff_pr_${{ github.event.number }}.html" - if [ $diff_exit_code -eq 0 ]; then - DIFF="✅ Videos are identical! [View Diff Report]($REPORT_URL)" - else - DIFF="❌ Videos differ! [View Diff Report]($REPORT_URL)" - fi - echo "DIFF=$DIFF" >> "$GITHUB_OUTPUT" - - - name: Saving proposed ui - if: github.event_name == 'pull_request_target' - working-directory: ${{ github.workspace }}/master_ui_raylib - run: | - # Overwrite PR branch w/ proposed ui, and master ui at this point in time for future reference - git config user.name "GitHub Actions Bot" - git config user.email "<>" - git checkout --orphan=${{ env.BRANCH_NAME }} - git rm -rf * - mv ${{ github.workspace }}/pr_ui/* . - git add . - git commit -m "mici raylib video for PR #${{ github.event.number }}" - git push origin ${{ env.BRANCH_NAME }} --force - - # Append diff report to report files branch - git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }} - git checkout ${{ env.REPORT_FILES_BRANCH_NAME }} - cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html diff_pr_${{ github.event.number }}.html - git add diff_pr_${{ github.event.number }}.html - git commit -m "mici raylib ui diff report for PR #${{ github.event.number }}" || echo "No changes to commit" - git push origin ${{ env.REPORT_FILES_BRANCH_NAME }} - - - name: Comment Video on PR - if: github.event_name == 'pull_request_target' - uses: thollander/actions-comment-pull-request@v2 - with: - message: | - - ## mici raylib UI Preview - ${{ steps.find_diff.outputs.DIFF }} - comment_tag: run_id_video_mici_raylib - pr_number: ${{ github.event.number }} - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml index a038cdce6..aeb0f11d8 100644 --- a/.github/workflows/prebuilt.yaml +++ b/.github/workflows/prebuilt.yaml @@ -6,7 +6,7 @@ on: env: DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} - BUILD: release/ci/docker_build_sp.sh prebuilt + BUILD: release/ci/docker_build_sp.sh jobs: build_prebuilt: @@ -28,7 +28,7 @@ jobs: wait-interval: 30 running-workflow-name: 'build prebuilt' repo-token: ${{ secrets.GITHUB_TOKEN }} - check-regexp: ^((?!.*(build master-ci).*).)*$ + check-regexp: ^((?!.*(build master-ci|create badges).*).)*$ - uses: actions/checkout@v6 with: submodules: true diff --git a/.github/workflows/raylib_ui_preview.yaml b/.github/workflows/raylib_ui_preview.yaml deleted file mode 100644 index 7f569f3bf..000000000 --- a/.github/workflows/raylib_ui_preview.yaml +++ /dev/null @@ -1,175 +0,0 @@ -name: "raylib ui preview" -on: - push: - branches: - - master - pull_request_target: - types: [assigned, opened, synchronize, reopened, edited] - branches: - - 'master' - paths: - - 'selfdrive/assets/**' - - 'selfdrive/ui/**' - - 'system/ui/**' - workflow_dispatch: - -env: - UI_JOB_NAME: "Create raylib UI Report" - REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }} - SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }} - BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-raylib-ui" - -jobs: - preview: - if: github.repository == 'sunnypilot/sunnypilot' - name: preview - runs-on: ubuntu-latest - timeout-minutes: 20 - permissions: - contents: read - pull-requests: write - actions: read - steps: - - name: Waiting for ui generation to start - run: sleep 30 - - - name: Waiting for ui generation to end - uses: lewagon/wait-on-check-action@v1.3.4 - with: - ref: ${{ env.SHA }} - check-name: ${{ env.UI_JOB_NAME }} - repo-token: ${{ secrets.GITHUB_TOKEN }} - allowed-conclusions: success - wait-interval: 20 - - - name: Getting workflow run ID - id: get_run_id - run: | - echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?[0-9]+)") | .number')" >> $GITHUB_OUTPUT - - - name: Getting proposed ui - id: download-artifact - uses: dawidd6/action-download-artifact@v6 - with: - github_token: ${{ secrets.GITHUB_TOKEN }} - run_id: ${{ steps.get_run_id.outputs.run_id }} - search_artifacts: true - name: raylib-report-1-${{ env.REPORT_NAME }} - path: ${{ github.workspace }}/pr_ui - - - name: Getting master ui - uses: actions/checkout@v6 - with: - repository: sunnypilot/ci-artifacts - ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }} - path: ${{ github.workspace }}/master_ui_raylib - ref: openpilot_master_ui_raylib - - - name: Saving new master ui - if: github.ref == 'refs/heads/master' && github.event_name == 'push' - working-directory: ${{ github.workspace }}/master_ui_raylib - run: | - git checkout --orphan=new_master_ui_raylib - git rm -rf * - git branch -D openpilot_master_ui_raylib - git branch -m openpilot_master_ui_raylib - git config user.name "GitHub Actions Bot" - git config user.email "<>" - mv ${{ github.workspace }}/pr_ui/*.png . - git add . - git commit -m "raylib screenshots for commit ${{ env.SHA }}" - git push origin openpilot_master_ui_raylib --force - - - name: Finding diff - if: github.event_name == 'pull_request_target' - id: find_diff - run: >- - sudo apt-get update && sudo apt-get install -y imagemagick - - scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device') - A=($scenes) - - DIFF="" - TABLE="
All Screenshots" - TABLE="${TABLE}" - - for ((i=0; i<${#A[*]}; i=i+1)); - do - # Check if the master file exists - if [ ! -f "${{ github.workspace }}/master_ui_raylib/${A[$i]}.png" ]; then - # This is a new file in PR UI that doesn't exist in master - DIFF="${DIFF}
" - DIFF="${DIFF}${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$" - DIFF="${DIFF}
" - - DIFF="${DIFF}" - DIFF="${DIFF} " - DIFF="${DIFF}" - - DIFF="${DIFF}
" - DIFF="${DIFF}
" - elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then - convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png - composite mask.png ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png composite_diff.png - convert -delay 100 ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif - - mv ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png - - DIFF="${DIFF}
" - DIFF="${DIFF}${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$" - DIFF="${DIFF}" - - DIFF="${DIFF}" - DIFF="${DIFF} " - DIFF="${DIFF} " - DIFF="${DIFF}" - - DIFF="${DIFF}" - DIFF="${DIFF} " - DIFF="${DIFF} " - DIFF="${DIFF}" - - DIFF="${DIFF}
master proposed
diff composite diff
" - DIFF="${DIFF}
" - else - rm -f ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png - fi - - INDEX=$(($i % 2)) - if [[ $INDEX -eq 0 ]]; then - TABLE="${TABLE}" - fi - TABLE="${TABLE} " - if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then - TABLE="${TABLE}" - fi - done - - TABLE="${TABLE}" - - echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT" - - - name: Saving proposed ui - if: github.event_name == 'pull_request_target' - working-directory: ${{ github.workspace }}/master_ui_raylib - run: | - git config user.name "GitHub Actions Bot" - git config user.email "<>" - git checkout --orphan=${{ env.BRANCH_NAME }} - git rm -rf * - mv ${{ github.workspace }}/pr_ui/* . - git add . - git commit -m "raylib screenshots for PR #${{ github.event.number }}" - git push origin ${{ env.BRANCH_NAME }} --force - - - name: Comment Screenshots on PR - if: github.event_name == 'pull_request_target' - uses: thollander/actions-comment-pull-request@v2 - with: - message: | - - ## raylib UI Preview - ${{ steps.find_diff.outputs.DIFF }} - comment_tag: run_id_screenshots_raylib - pr_number: ${{ github.event.number }} - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml index 3a6cfa59d..d3be31838 100644 --- a/.github/workflows/release.yaml +++ b/.github/workflows/release.yaml @@ -7,20 +7,12 @@ on: jobs: build___nightly: name: build __nightly - env: - ImageOS: ubuntu24 - container: - image: ghcr.io/sunnypilot/sunnypilot-base:latest runs-on: ubuntu-latest if: github.repository == 'sunnypilot/sunnypilot' permissions: checks: read contents: write steps: - - name: Install wait-on-check-action dependencies - run: | - sudo apt-get update - sudo apt-get install -y libyaml-dev - name: Wait for green check mark if: ${{ github.event_name == 'schedule' }} uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc @@ -29,14 +21,11 @@ jobs: wait-interval: 30 running-workflow-name: 'build __nightly' repo-token: ${{ secrets.GITHUB_TOKEN }} - check-regexp: ^((?!.*(build prebuilt).*).)*$ + check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$ - uses: actions/checkout@v6 with: submodules: true fetch-depth: 0 - - name: Pull LFS - run: | - git config --global --add safe.directory '*' - git lfs pull + - uses: ./.github/workflows/setup-with-retry - name: Push __nightly run: BRANCH=__nightly release/build_stripped.sh diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml index 9be42cd04..5b25c04f1 100644 --- a/.github/workflows/repo-maintenance.yaml +++ b/.github/workflows/repo-maintenance.yaml @@ -6,9 +6,7 @@ on: workflow_dispatch: env: - BASE_IMAGE: sunnypilot-base - BUILD: release/ci/docker_build_sp.sh base - RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c + PYTHONPATH: ${{ github.workspace }} jobs: update_translations: @@ -16,10 +14,11 @@ jobs: if: github.repository == 'sunnypilot/sunnypilot' steps: - uses: actions/checkout@v6 + with: + submodules: true - uses: ./.github/workflows/setup-with-retry - name: Update translations - run: | - ${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish" + run: python3 selfdrive/ui/update_translations.py --vanish - name: Create Pull Request uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0 with: @@ -35,27 +34,36 @@ jobs: package_updates: name: package_updates runs-on: ubuntu-latest - container: - image: ghcr.io/sunnypilot/sunnypilot-base:latest if: github.repository == 'sunnypilot/sunnypilot' steps: - uses: actions/checkout@v6 with: submodules: true + - uses: ./.github/workflows/setup-with-retry - name: uv lock - run: | - python3 -m ensurepip --upgrade - pip3 install uv - uv lock --upgrade + run: uv lock --upgrade - name: uv pip tree id: pip_tree run: | echo 'PIP_TREE<> $GITHUB_OUTPUT uv pip tree >> $GITHUB_OUTPUT echo 'EOF' >> $GITHUB_OUTPUT + - name: venv size + id: venv_size + run: | + echo 'VENV_SIZE<> $GITHUB_OUTPUT + echo "Total: $(du -sh .venv | cut -f1)" >> $GITHUB_OUTPUT + echo "" >> $GITHUB_OUTPUT + echo "Top 10 by size:" >> $GITHUB_OUTPUT + du -sh .venv/lib/python*/site-packages/* 2>/dev/null \ + | grep -v '\.dist-info' \ + | grep -v '__pycache__' \ + | sort -rh \ + | head -10 \ + | while IFS=$'\t' read size path; do echo "$size ${path##*/}"; done >> $GITHUB_OUTPUT + echo 'EOF' >> $GITHUB_OUTPUT - name: bump submodules run: | - git config --global --add safe.directory '*' git config submodule.msgq.update none git config submodule.rednose_repo.update none git config submodule.teleoprtc_repo.update none @@ -64,7 +72,6 @@ jobs: git add . - name: update car docs run: | - export PYTHONPATH="$PWD" scons -j$(nproc) --minimal opendbc_repo python selfdrive/car/docs.py git add docs/CARS.md @@ -82,6 +89,12 @@ jobs: Automatic PR from repo-maintenance -> package_updates ``` + $ du -sh .venv && du -sh .venv/lib/python*/site-packages/* | sort -rh | head -10 + ${{ steps.venv_size.outputs.VENV_SIZE }} + ``` + + ``` + $ uv pip tree ${{ steps.pip_tree.outputs.PIP_TREE }} ``` labels: bot diff --git a/.github/workflows/setup-with-retry/action.yaml b/.github/workflows/setup-with-retry/action.yaml index 98a391360..923cc3aad 100644 --- a/.github/workflows/setup-with-retry/action.yaml +++ b/.github/workflows/setup-with-retry/action.yaml @@ -1,10 +1,6 @@ name: 'openpilot env setup, with retry on failure' inputs: - docker_hub_pat: - description: 'Auth token for Docker Hub, required for BuildJet jobs' - required: false - default: '' sleep_time: description: 'Time to sleep between retries' required: false diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml index 70177885a..f56e21271 100644 --- a/.github/workflows/setup/action.yaml +++ b/.github/workflows/setup/action.yaml @@ -26,31 +26,31 @@ runs: exit 1 fi - # do this after checkout to ensure our custom LFS config is used to pull from GitLab - - shell: bash - run: git lfs pull - # build cache - id: date shell: bash run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV - - shell: bash - run: echo "$CACHE_COMMIT_DATE" - id: scons-cache uses: ./.github/workflows/auto-cache with: - path: .ci_cache/scons_cache - key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} + path: /tmp/scons_cache + key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} restore-keys: | - scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }} - scons-${{ runner.arch }} - # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001 - - id: normalize-file-permissions - shell: bash - name: Normalize file permissions to ensure a consistent docker build cache - run: | - find . -type f -executable -not -perm 755 -exec chmod 755 {} \; - find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \; - # build our docker image + scons-${{ runner.os }}-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }} + scons-${{ runner.os }}-${{ runner.arch }} + # venv cache + - id: venv-cache + uses: ./.github/workflows/auto-cache + with: + path: ${{ github.workspace }}/.venv + key: venv-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('uv.lock') }} + restore-keys: | + venv-${{ runner.os }}-${{ runner.arch }} - shell: bash - run: eval ${{ env.BUILD }} + name: Run setup + run: ./tools/op.sh setup + - shell: bash + name: Setup cache dirs + run: | + mkdir -p /tmp/comma_download_cache + echo "$GITHUB_WORKSPACE/.venv/bin" >> $GITHUB_PATH diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml index 5cd51f944..dfb28c9d7 100644 --- a/.github/workflows/tests.yaml +++ b/.github/workflows/tests.yaml @@ -18,14 +18,7 @@ concurrency: cancel-in-progress: true env: - PYTHONWARNINGS: error - BASE_IMAGE: sunnypilot-base - DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} - BUILD: release/ci/docker_build_sp.sh base - - RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c - - PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical + CI: 1 jobs: build_release: @@ -38,6 +31,7 @@ jobs: || fromJSON('["ubuntu-24.04"]') }} env: STRIPPED_DIR: /tmp/releasepilot + PYTHONPATH: /tmp/releasepilot steps: - uses: actions/checkout@v6 with: @@ -53,15 +47,13 @@ jobs: run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh - uses: ./.github/workflows/setup-with-retry - name: Build openpilot and run checks - timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache - run: | - cd $STRIPPED_DIR - ${{ env.RUN }} "python3 system/manager/build.py" + timeout-minutes: 30 + working-directory: ${{ env.STRIPPED_DIR }} + run: python3 system/manager/build.py - name: Run tests timeout-minutes: 1 - run: | - cd $STRIPPED_DIR - ${{ env.RUN }} "release/check-dirty.sh" + working-directory: ${{ env.STRIPPED_DIR }} + run: release/check-dirty.sh - name: Check submodules if: github.repository == 'sunnypilot/sunnypilot' timeout-minutes: 3 @@ -83,73 +75,20 @@ jobs: fi release/check-submodules.sh - build: - runs-on: ${{ - (github.repository == 'commaai/openpilot') && - ((github.event_name != 'pull_request') || - (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) - && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') - || fromJSON('["ubuntu-24.04"]') }} - steps: - - uses: actions/checkout@v6 - with: - submodules: true - - name: Setup docker push - if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot' - run: | - echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" - $DOCKER_LOGIN - - uses: ./.github/workflows/setup-with-retry - - uses: ./.github/workflows/compile-openpilot - timeout-minutes: 30 - build_mac: name: build macOS - if: false # tmp disable due to brew install not working runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }} steps: - uses: actions/checkout@v6 with: submodules: true - - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV - - name: Homebrew cache - uses: ./.github/workflows/auto-cache - with: - save: false # No need save here if we manually save it later conditionally - path: ~/Library/Caches/Homebrew - key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }} - restore-keys: | - brew-macos-${{ hashFiles('tools/Brewfile') }} - brew-macos- - - name: Install dependencies - run: ./tools/mac_setup.sh - env: - PYTHONWARNINGS: default # package install has DeprecationWarnings - HOMEBREW_DISPLAY_INSTALL_TIMES: 1 - - name: Save Homebrew cache - uses: actions/cache/save@v4 - if: github.ref == 'refs/heads/master' - with: - path: ~/Library/Caches/Homebrew - key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }} - - run: git lfs pull - - name: Getting scons cache - uses: ./.github/workflows/auto-cache - with: - save: false # No need save here if we manually save it later conditionally - path: /tmp/scons_cache - key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} - restore-keys: | - scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }} - scons-${{ runner.arch }}-macos + - name: Remove Homebrew from environment + run: | + FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':') + echo "PATH=${FILTERED}/usr/local/bin:/usr/bin:/bin:/usr/sbin:/sbin" >> $GITHUB_ENV + - uses: ./.github/workflows/setup-with-retry - name: Building openpilot - run: . .venv/bin/activate && scons -j$(nproc) - - name: Save scons cache - uses: actions/cache/save@v4 - if: github.ref == 'refs/heads/master' - with: - path: /tmp/scons_cache - key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} + run: scons static_analysis: name: static analysis @@ -159,8 +98,6 @@ jobs: (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') || fromJSON('["ubuntu-24.04"]') }} - env: - PYTHONWARNINGS: default steps: - uses: actions/checkout@v6 with: @@ -168,7 +105,7 @@ jobs: - uses: ./.github/workflows/setup-with-retry - name: Static analysis timeout-minutes: 1 - run: ${{ env.RUN }} "scripts/lint/lint.sh" + run: scripts/lint/lint.sh unit_tests: name: unit tests @@ -185,15 +122,14 @@ jobs: - uses: ./.github/workflows/setup-with-retry id: setup-step - name: Build openpilot - run: ${{ env.RUN }} "scons -j$(nproc)" + run: scons -j$(nproc) - name: Run unit tests timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 999 }} run: | - ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ - # Pre-compile Python bytecode so each pytest worker doesn't need to - $PYTEST --collect-only -m 'not slow' -qq && \ - MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \ - chmod -R 777 /tmp/comma_download_cache" + source selfdrive/test/setup_xvfb.sh + # Pre-compile Python bytecode so each pytest worker doesn't need to + pytest --collect-only -m 'not slow' -qq + MAX_EXAMPLES=1 pytest -m 'not slow' process_replay: name: process replay @@ -214,17 +150,14 @@ jobs: id: dependency-cache uses: actions/cache@v5 with: - path: .ci_cache/comma_download_cache + path: /tmp/comma_download_cache key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/test_processes.py') }} - name: Build openpilot - run: | - ${{ env.RUN }} "scons -j$(nproc)" + run: scons -j$(nproc) - name: Run replay timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }} continue-on-error: ${{ github.ref == 'refs/heads/master' }} - run: | - ${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ - chmod -R 777 /tmp/comma_download_cache" + run: selfdrive/test/process_replay/test_processes.py -j$(nproc) - name: Print diff id: print-diff if: always() @@ -258,9 +191,9 @@ jobs: - name: Run regen if: false timeout-minutes: 4 - run: | - ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \ - chmod -R 777 /tmp/comma_download_cache" + env: + ONNXCPU: 1 + run: pytest selfdrive/test/process_replay/test_regen.py simulator_driving: name: simulator driving @@ -278,17 +211,15 @@ jobs: - uses: ./.github/workflows/setup-with-retry id: setup-step - name: Build openpilot - run: | - ${{ env.RUN }} "scons -j$(nproc)" + run: scons -j$(nproc) - name: Driving test timeout-minutes: ${{ (steps.setup-step.outputs.duration < 18) && 1 || 2 }} run: | - ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ - source selfdrive/test/setup_vsound.sh && \ - CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py" + source selfdrive/test/setup_xvfb.sh + pytest -s tools/sim/tests/test_metadrive_bridge.py - create_raylib_ui_report: - name: Create raylib UI Report + create_ui_report: + name: Create UI Report runs-on: ${{ (github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || @@ -301,40 +232,14 @@ jobs: submodules: true - uses: ./.github/workflows/setup-with-retry - name: Build openpilot - run: ${{ env.RUN }} "scons -j$(nproc)" - - name: Create raylib UI Report - run: > - ${{ env.RUN }} "PYTHONWARNINGS=ignore && - source selfdrive/test/setup_xvfb.sh && - python3 selfdrive/ui/tests/test_ui/raylib_screenshots.py" - - name: Upload Raylib UI Report + run: scons -j$(nproc) + - name: Create UI Report + run: | + source selfdrive/test/setup_xvfb.sh + python3 selfdrive/ui/tests/diff/replay.py + python3 selfdrive/ui/tests/diff/replay.py --big + - name: Upload UI Report uses: actions/upload-artifact@v6 with: - name: raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }} - path: selfdrive/ui/tests/test_ui/raylib_report/screenshots - - create_mici_raylib_ui_report: - name: Create mici raylib UI Report - runs-on: ${{ - (github.repository == 'commaai/openpilot') && - ((github.event_name != 'pull_request') || - (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) - && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') - || fromJSON('["ubuntu-24.04"]') }} - steps: - - uses: actions/checkout@v6 - with: - submodules: true - - uses: ./.github/workflows/setup-with-retry - - name: Build openpilot - run: ${{ env.RUN }} "scons -j$(nproc)" - - name: Create mici raylib UI Report - run: > - ${{ env.RUN }} "PYTHONWARNINGS=ignore && - source selfdrive/test/setup_xvfb.sh && - WINDOWED=1 python3 selfdrive/ui/tests/diff/replay.py" - - name: Upload Raylib UI Report - uses: actions/upload-artifact@v6 - with: - name: mici-raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }} + name: ui-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }} path: selfdrive/ui/tests/diff/report diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml new file mode 100644 index 000000000..a02726c3a --- /dev/null +++ b/.github/workflows/ui_preview.yaml @@ -0,0 +1,175 @@ +name: "ui preview" +on: + push: + branches: + - master + pull_request_target: + types: [assigned, opened, synchronize, reopened, edited] + branches: + - 'master' + paths: + - 'selfdrive/assets/**' + - 'selfdrive/ui/**' + - 'system/ui/**' + workflow_dispatch: + +env: + UI_JOB_NAME: "Create UI Report" + REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }} + SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }} + BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-ui-preview" + REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports" + + # variant:video_prefix:master_branch + VARIANTS: "mici:mici_ui_replay:openpilot_master_ui_mici_raylib big:tizi_ui_replay:openpilot_master_ui_big_raylib" + +jobs: + preview: + if: github.repository == 'sunnypilot/sunnypilot' + name: preview + runs-on: ubuntu-latest + timeout-minutes: 20 + permissions: + contents: read + pull-requests: write + actions: read + steps: + - uses: actions/checkout@v6 + with: + submodules: true + + - name: Waiting for ui generation to end + uses: lewagon/wait-on-check-action@v1.3.4 + with: + ref: ${{ env.SHA }} + check-name: ${{ env.UI_JOB_NAME }} + repo-token: ${{ secrets.GITHUB_TOKEN }} + allowed-conclusions: success + wait-interval: 20 + + - name: Getting workflow run ID + id: get_run_id + run: | + echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?[0-9]+)") | .number')" >> $GITHUB_OUTPUT + + - name: Getting proposed ui + uses: dawidd6/action-download-artifact@v6 + with: + github_token: ${{ secrets.GITHUB_TOKEN }} + run_id: ${{ steps.get_run_id.outputs.run_id }} + search_artifacts: true + name: ui-report-1-${{ env.REPORT_NAME }} + path: ${{ github.workspace }}/pr_ui + + - name: Getting mici master ui + uses: actions/checkout@v6 + with: + repository: sunnypilot/ci-artifacts + ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }} + path: ${{ github.workspace }}/master_mici + ref: openpilot_master_ui_mici_raylib + + - name: Getting big master ui + uses: actions/checkout@v6 + with: + repository: sunnypilot/ci-artifacts + ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }} + path: ${{ github.workspace }}/master_big + ref: openpilot_master_ui_big_raylib + + - name: Saving new master ui + if: github.ref == 'refs/heads/master' && github.event_name == 'push' + run: | + for variant in $VARIANTS; do + IFS=':' read -r name video branch <<< "$variant" + master_dir="${{ github.workspace }}/master_${name}" + cd "$master_dir" + git checkout --orphan=new_branch + git rm -rf * + git branch -D "$branch" + git branch -m "$branch" + git config user.name "GitHub Actions Bot" + git config user.email "<>" + cp "${{ github.workspace }}/pr_ui/${video}.mp4" . + git add . + git commit -m "${name} video for commit ${{ env.SHA }}" + git push origin "$branch" --force + done + + - name: Setup FFmpeg + uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae + + - name: Finding diffs + if: github.event_name == 'pull_request_target' + id: find_diff + run: | + export PYTHONPATH=${{ github.workspace }} + baseurl="https://github.com/sunnypilot/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}" + + COMMENT="" + for variant in $VARIANTS; do + IFS=':' read -r name video _ <<< "$variant" + diff_name="${name}_diff" + + mv "${{ github.workspace }}/pr_ui/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_proposed.mp4" + cp "${{ github.workspace }}/master_${name}/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_master.mp4" + + diff_exit_code=0 + python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py \ + "${{ github.workspace }}/pr_ui/${video}_master.mp4" \ + "${{ github.workspace }}/pr_ui/${video}_proposed.mp4" \ + "${diff_name}.html" --basedir "$baseurl" --no-open || diff_exit_code=$? + + cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/" + cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/" + + REPORT_URL="https://sunnypilot.github.io/ci-artifacts/${diff_name}_pr_${{ github.event.number }}.html" + if [ $diff_exit_code -eq 0 ]; then + COMMENT+="**${name}**: Videos are identical! [View Diff Report]($REPORT_URL)"$'\n' + else + COMMENT+="**${name}**: ⚠️ Videos differ! [View Diff Report]($REPORT_URL)"$'\n' + fi + done + + { + echo "COMMENT<> "$GITHUB_OUTPUT" + + - name: Saving proposed ui + if: github.event_name == 'pull_request_target' + working-directory: ${{ github.workspace }}/master_mici + run: | + git config user.name "GitHub Actions Bot" + git config user.email "<>" + git checkout --orphan=${{ env.BRANCH_NAME }} + git rm -rf * + mv ${{ github.workspace }}/pr_ui/* . + git add . + git commit -m "ui videos for PR #${{ github.event.number }}" + git push origin ${{ env.BRANCH_NAME }} --force + + # Append diff reports to report files branch + git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }} + git checkout ${{ env.REPORT_FILES_BRANCH_NAME }} + for variant in $VARIANTS; do + IFS=':' read -r name _ _ <<< "$variant" + diff_name="${name}_diff" + cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html" + git add "${diff_name}_pr_${{ github.event.number }}.html" + done + git commit -m "ui diff reports for PR #${{ github.event.number }}" || echo "No changes to commit" + git push origin ${{ env.REPORT_FILES_BRANCH_NAME }} + + - name: Comment on PR + if: github.event_name == 'pull_request_target' + uses: thollander/actions-comment-pull-request@v2 + with: + message: | + + ## UI Preview + ${{ steps.find_diff.outputs.COMMENT }} + comment_tag: run_id_ui_preview + pr_number: ${{ github.event.number }} + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/vendor_third_party.yaml b/.github/workflows/vendor_third_party.yaml deleted file mode 100644 index df50cfad2..000000000 --- a/.github/workflows/vendor_third_party.yaml +++ /dev/null @@ -1,51 +0,0 @@ -name: vendor third_party - -on: - workflow_dispatch: - -jobs: - build: - if: github.ref != 'refs/heads/master' - strategy: - matrix: - os: [ubuntu-24.04, macos-latest] - runs-on: ${{ matrix.os }} - steps: - - uses: actions/checkout@v6 - with: - submodules: true - - name: Build - run: third_party/build.sh - - name: Package artifacts - run: | - git add -A third_party/ - git diff --cached --name-only -- third_party/ | tar -cf /tmp/third_party_build.tar -T - - - uses: actions/upload-artifact@v4 - with: - name: third-party-${{ runner.os }} - path: /tmp/third_party_build.tar - - commit: - needs: build - runs-on: ubuntu-24.04 - permissions: - contents: write - steps: - - uses: actions/checkout@v6 - - uses: actions/download-artifact@v4 - with: - path: /tmp/artifacts - - name: Commit vendored libraries - run: | - for f in /tmp/artifacts/*/third_party_build.tar; do - tar xf "$f" - done - git add third_party/ - if git diff --cached --quiet; then - echo "No changes to commit" - exit 0 - fi - git config user.name "github-actions[bot]" - git config user.email "github-actions[bot]@users.noreply.github.com" - git commit -m "third_party: rebuild vendor libraries" - git push diff --git a/.gitignore b/.gitignore index 18f494148..b6a1d3460 100644 --- a/.gitignore +++ b/.gitignore @@ -64,7 +64,7 @@ flycheck_* cppcheck_report.txt comma*.sh -selfdrive/modeld/models/*.pkl +selfdrive/modeld/models/*.pkl* sunnypilot/modeld*/thneed/compile sunnypilot/modeld*/models/*.thneed sunnypilot/modeld*/models/*.pkl diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot index 106a06e3a..72d874b02 100644 --- a/Dockerfile.openpilot +++ b/Dockerfile.openpilot @@ -1,14 +1,38 @@ -FROM ghcr.io/commaai/openpilot-base:latest +FROM ubuntu:24.04 ENV PYTHONUNBUFFERED=1 -ENV OPENPILOT_PATH=/home/batman/openpilot +ENV DEBIAN_FRONTEND=noninteractive +RUN apt-get update && \ + apt-get install -y --no-install-recommends sudo tzdata locales && \ + rm -rf /var/lib/apt/lists/* +RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen +ENV LANG=en_US.UTF-8 +ENV LANGUAGE=en_US:en +ENV LC_ALL=en_US.UTF-8 + +ENV NVIDIA_VISIBLE_DEVICES=all +ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute + +ARG USER=batman +ARG USER_UID=1001 +RUN useradd -m -s /bin/bash -u $USER_UID $USER +RUN usermod -aG sudo $USER +RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers +USER $USER + +ENV OPENPILOT_PATH=/home/$USER/openpilot RUN mkdir -p ${OPENPILOT_PATH} WORKDIR ${OPENPILOT_PATH} -COPY . ${OPENPILOT_PATH}/ +COPY --chown=$USER . ${OPENPILOT_PATH}/ -ENV UV_BIN="/home/batman/.local/bin/" -ENV PATH="$UV_BIN:$PATH" -RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc) +ENV UV_BIN="/home/$USER/.local/bin/" +ENV VIRTUAL_ENV=${OPENPILOT_PATH}/.venv +ENV PATH="$UV_BIN:$VIRTUAL_ENV/bin:$PATH" +RUN tools/setup_dependencies.sh && \ + sudo rm -rf /var/lib/apt/lists/* + +USER root +RUN git config --global --add safe.directory '*' diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base deleted file mode 100644 index 04fb589bf..000000000 --- a/Dockerfile.openpilot_base +++ /dev/null @@ -1,82 +0,0 @@ -FROM ubuntu:24.04 - -ENV PYTHONUNBUFFERED=1 - -ENV DEBIAN_FRONTEND=noninteractive -RUN apt-get update && \ - apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \ - rm -rf /var/lib/apt/lists/* - -RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen -ENV LANG=en_US.UTF-8 -ENV LANGUAGE=en_US:en -ENV LC_ALL=en_US.UTF-8 - -COPY tools/install_ubuntu_dependencies.sh /tmp/tools/ -RUN /tmp/tools/install_ubuntu_dependencies.sh && \ - rm -rf /var/lib/apt/lists/* /tmp/* && \ - cd /usr/lib/gcc/arm-none-eabi/* && \ - rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp - -# Add OpenCL -RUN apt-get update && apt-get install -y --no-install-recommends \ - apt-utils \ - alien \ - unzip \ - tar \ - curl \ - xz-utils \ - dbus \ - gcc-arm-none-eabi \ - tmux \ - vim \ - libx11-6 \ - wget \ - && rm -rf /var/lib/apt/lists/* - -RUN mkdir -p /tmp/opencl-driver-intel && \ - cd /tmp/opencl-driver-intel && \ - wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \ - wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \ - mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \ - cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \ - tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \ - mkdir -p /etc/OpenCL/vendors && \ - echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \ - cd /opt/intel && \ - tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \ - ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ - ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ - ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ - ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ - mkdir -p /etc/ld.so.conf.d && \ - echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \ - ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \ - cd / && \ - rm -rf /tmp/opencl-driver-intel - -ENV NVIDIA_VISIBLE_DEVICES=all -ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute -ENV QTWEBENGINE_DISABLE_SANDBOX=1 - -RUN dbus-uuidgen > /etc/machine-id -RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji - -ARG USER=batman -ARG USER_UID=1001 -RUN useradd -m -s /bin/bash -u $USER_UID $USER -RUN usermod -aG sudo $USER -RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers -USER $USER - -COPY --chown=$USER pyproject.toml uv.lock /home/$USER -COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/ - -ENV VIRTUAL_ENV=/home/$USER/.venv -ENV PATH="$VIRTUAL_ENV/bin:$PATH" -RUN cd /home/$USER && \ - tools/install_python_dependencies.sh && \ - rm -rf tools/ pyproject.toml uv.lock .cache - -USER root -RUN sudo git config --global --add safe.directory /tmp/openpilot diff --git a/Dockerfile.sunnypilot b/Dockerfile.sunnypilot deleted file mode 100644 index abc207171..000000000 --- a/Dockerfile.sunnypilot +++ /dev/null @@ -1,14 +0,0 @@ -FROM ghcr.io/sunnypilot/sunnypilot-base:latest - -ENV PYTHONUNBUFFERED=1 - -ENV OPENPILOT_PATH=/home/batman/openpilot - -RUN mkdir -p ${OPENPILOT_PATH} -WORKDIR ${OPENPILOT_PATH} - -COPY . ${OPENPILOT_PATH}/ - -ENV UV_BIN="/home/batman/.local/bin/" -ENV PATH="$UV_BIN:$PATH" -RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc) diff --git a/Dockerfile.sunnypilot_base b/Dockerfile.sunnypilot_base deleted file mode 100644 index ec1e3b6c0..000000000 --- a/Dockerfile.sunnypilot_base +++ /dev/null @@ -1,83 +0,0 @@ -FROM ubuntu:24.04 - -ENV PYTHONUNBUFFERED=1 - -ENV DEBIAN_FRONTEND=noninteractive -RUN apt-get update && \ - apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \ - rm -rf /var/lib/apt/lists/* - -RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen -ENV LANG=en_US.UTF-8 -ENV LANGUAGE=en_US:en -ENV LC_ALL=en_US.UTF-8 - -COPY tools/install_ubuntu_dependencies.sh /tmp/tools/ -RUN /tmp/tools/install_ubuntu_dependencies.sh && \ - rm -rf /var/lib/apt/lists/* /tmp/* && \ - cd /usr/lib/gcc/arm-none-eabi/* && \ - rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp - -# Add OpenCL -RUN apt-get update && apt-get install -y --no-install-recommends \ - apt-utils \ - alien \ - unzip \ - tar \ - curl \ - xz-utils \ - dbus \ - gcc-arm-none-eabi \ - tmux \ - vim \ - libx11-6 \ - wget \ - rsync \ - && rm -rf /var/lib/apt/lists/* - -RUN mkdir -p /tmp/opencl-driver-intel && \ - cd /tmp/opencl-driver-intel && \ - wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \ - wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \ - mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \ - cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \ - tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \ - mkdir -p /etc/OpenCL/vendors && \ - echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \ - cd /opt/intel && \ - tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \ - ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ - ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ - ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ - ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ - mkdir -p /etc/ld.so.conf.d && \ - echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \ - ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \ - cd / && \ - rm -rf /tmp/opencl-driver-intel - -ENV NVIDIA_VISIBLE_DEVICES=all -ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute -ENV QTWEBENGINE_DISABLE_SANDBOX=1 - -RUN dbus-uuidgen > /etc/machine-id -RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji - -ARG USER=batman -ARG USER_UID=1001 -RUN useradd -m -s /bin/bash -u $USER_UID $USER -RUN usermod -aG sudo $USER -RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers -USER $USER - -COPY --chown=$USER pyproject.toml uv.lock /home/$USER -COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/ - -ENV VIRTUAL_ENV=/home/$USER/.venv -ENV PATH="$VIRTUAL_ENV/bin:$PATH" -RUN cd /home/$USER && \ - tools/install_python_dependencies.sh && \ - rm -rf tools/ pyproject.toml uv.lock .cache - -USER root -RUN sudo git config --global --add safe.directory /tmp/openpilot diff --git a/Jenkinsfile b/Jenkinsfile index c095eda8a..e58ac817e 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -216,24 +216,16 @@ node { step("test manager", "pytest system/manager/test/test_manager.py"), ]) }, - 'loopback': { - deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [ - step("build openpilot", "cd system/manager && ./build.py"), - step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"), - ]) - }, 'camerad OX03C10': { deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [ step("build", "cd system/manager && ./build.py"), - step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]), - step("test exposure", "pytest system/camerad/test/test_exposure.py"), + step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]), ]) }, 'camerad OS04C10': { deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [ step("build", "cd system/manager && ./build.py"), - step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]), - step("test exposure", "pytest system/camerad/test/test_exposure.py"), + step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]), ]) }, 'sensord': { @@ -251,11 +243,9 @@ node { 'tizi': { deviceStage("tizi", "tizi", ["UNSAFE=1"], [ step("build openpilot", "cd system/manager && ./build.py"), - step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"), + step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"), step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"), step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"), - // TODO: enable once new AGNOS is available - // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"), step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]), ]) }, diff --git a/RELEASES.md b/RELEASES.md index 6191c6ba3..895dcbba7 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,6 +1,8 @@ Version 0.10.4 (2026-02-17) ======================== +* Kia K7 2017 support thanks to royjr! * Lexus LS 2018 support thanks to Hacheoy! +* Reduce comma four standby power usage by 77% to 52 mW Version 0.10.3 (2025-12-17) ======================== diff --git a/SConstruct b/SConstruct index 9f54e2a56..8f6fe515d 100644 --- a/SConstruct +++ b/SConstruct @@ -28,7 +28,6 @@ AddOption('--minimal', arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip() if platform.system() == "Darwin": arch = "Darwin" - brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip() elif arch == "aarch64" and os.path.isfile('/TICI'): arch = "larch64" assert arch in [ @@ -38,6 +37,23 @@ assert arch in [ "Darwin", # macOS arm64 (x86 not supported) ] +if arch != "larch64": + import capnproto + import eigen + import ffmpeg as ffmpeg_pkg + import libjpeg + import ncurses + import openssl3 + import python3_dev + import zeromq + import zstd + pkgs = [capnproto, eigen, ffmpeg_pkg, libjpeg, ncurses, openssl3, zeromq, zstd] + py_include = python3_dev.INCLUDE_DIR +else: + # TODO: remove when AGNOS has our new vendor pkgs + pkgs = [] + py_include = sysconfig.get_paths()['include'] + env = Environment( ENV={ "PATH": os.environ['PATH'], @@ -46,15 +62,13 @@ env = Environment( "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath, "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer" }, - CC='clang', - CXX='clang++', CCFLAGS=[ "-g", "-fPIC", "-O2", "-Wunused", "-Werror", - "-Wshadow", + "-Wshadow" if arch in ("Darwin", "larch64") else "-Wshadow=local", "-Wno-unknown-warning-option", "-Wno-inconsistent-missing-override", "-Wno-c99-designator", @@ -74,6 +88,7 @@ env = Environment( "#third_party/acados/include/hpipm/include", "#third_party/catch2/include", "#third_party/libyuv/include", + [x.INCLUDE_DIR for x in pkgs], ], LIBPATH=[ "#common", @@ -83,6 +98,7 @@ env = Environment( "#rednose/helpers", f"#third_party/libyuv/{arch}/lib", f"#third_party/acados/{arch}/lib", + [x.LIB_DIR for x in pkgs], ], RPATH=[], CYTHONCFILESUFFIX=".cpp", @@ -94,7 +110,8 @@ env = Environment( # Arch-specific flags and paths if arch == "larch64": - env.Append(CPPPATH=["#third_party/opencl/include"]) + env["CC"] = "clang" + env["CXX"] = "clang++" env.Append(LIBPATH=[ "/usr/local/lib", "/system/vendor/lib64", @@ -105,17 +122,10 @@ if arch == "larch64": env.Append(CXXFLAGS=arch_flags) elif arch == "Darwin": env.Append(LIBPATH=[ - f"{brew_prefix}/lib", - f"{brew_prefix}/opt/openssl@3.0/lib", - f"{brew_prefix}/opt/llvm/lib/c++", "/System/Library/Frameworks/OpenGL.framework/Libraries", ]) env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"]) env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"]) - env.Append(CPPPATH=[ - f"{brew_prefix}/include", - f"{brew_prefix}/opt/openssl@3.0/include", - ]) else: env.Append(LIBPATH=[ "/usr/lib", @@ -149,10 +159,9 @@ if os.environ.get('SCONS_PROGRESS'): Progress(progress_function, interval=node_interval) # ********** Cython build environment ********** -py_include = sysconfig.get_paths()['include'] envCython = env.Clone() envCython["CPPPATH"] += [py_include, np.get_include()] -envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"] +envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"] envCython["CCFLAGS"].remove("-Werror") envCython["LIBS"] = [] @@ -215,10 +224,8 @@ SConscript(['selfdrive/SConscript']) SConscript(['sunnypilot/SConscript']) -if Dir('#tools/cabana/').exists() and GetOption('extras'): - SConscript(['tools/replay/SConscript']) - if arch != "larch64": - SConscript(['tools/cabana/SConscript']) +if Dir('#tools/cabana/').exists() and arch != "larch64": + SConscript(['tools/cabana/SConscript']) env.CompilationDatabase('compile_commands.json') diff --git a/cereal/log.capnp b/cereal/log.capnp index 343b7a97f..6f8487c92 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -2232,9 +2232,9 @@ struct DriverMonitoringState @0xb83cda094a1da284 { isActiveMode @16 :Bool; isRHD @4 :Bool; uncertainCount @19 :UInt32; - phoneProbOffset @20 :Float32; - phoneProbValidCount @21 :UInt32; + phoneProbOffsetDEPRECATED @20 :Float32; + phoneProbValidCountDEPRECATED @21 :UInt32; isPreviewDEPRECATED @15 :Bool; rhdCheckedDEPRECATED @5 :Bool; eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED); diff --git a/cereal/messaging/tests/test_messaging.py b/cereal/messaging/tests/test_messaging.py index 583eb8b0d..afdab8a51 100644 --- a/cereal/messaging/tests/test_messaging.py +++ b/cereal/messaging/tests/test_messaging.py @@ -5,7 +5,7 @@ import numbers import random import threading import time -from parameterized import parameterized +from openpilot.common.parameterized import parameterized import pytest from cereal import log, car diff --git a/cereal/messaging/tests/test_services.py b/cereal/messaging/tests/test_services.py index 8bfd2ea97..3320723fe 100644 --- a/cereal/messaging/tests/test_services.py +++ b/cereal/messaging/tests/test_services.py @@ -1,7 +1,7 @@ import os import tempfile from typing import Dict -from parameterized import parameterized +from openpilot.common.parameterized import parameterized import cereal.services as services from cereal.services import SERVICE_LIST diff --git a/common/SConscript b/common/SConscript index 1c68cf05c..15a0e5eff 100644 --- a/common/SConscript +++ b/common/SConscript @@ -5,7 +5,6 @@ common_libs = [ 'swaglog.cc', 'util.cc', 'ratekeeper.cc', - 'clutil.cc', ] _common = env.Library('common', common_libs, LIBS="json11") diff --git a/common/clutil.cc b/common/clutil.cc deleted file mode 100644 index f8381a7e0..000000000 --- a/common/clutil.cc +++ /dev/null @@ -1,98 +0,0 @@ -#include "common/clutil.h" - -#include -#include -#include - -#include "common/util.h" -#include "common/swaglog.h" - -namespace { // helper functions - -template -std::string get_info(Func get_info_func, Id id, Name param_name) { - size_t size = 0; - CL_CHECK(get_info_func(id, param_name, 0, NULL, &size)); - std::string info(size, '\0'); - CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL)); - return info; -} -inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); } -inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); } - -void cl_print_info(cl_platform_id platform, cl_device_id device) { - size_t work_group_size = 0; - cl_device_type device_type = 0; - clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL); - clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL); - const char *type_str = "Other..."; - switch (device_type) { - case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break; - case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break; - case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break; - } - - LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str()); - LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str()); - LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str()); - LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str()); - LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str()); - LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str()); - LOGD("max work group size: %zu", work_group_size); - LOGD("type = %d, %s", (int)device_type, type_str); -} - -void cl_print_build_errors(cl_program program, cl_device_id device) { - cl_build_status status; - clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL); - size_t log_size; - clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size); - std::string log(log_size, '\0'); - clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL); - - LOGE("build failed; status=%d, log: %s", status, log.c_str()); -} - -} // namespace - -cl_device_id cl_get_device_id(cl_device_type device_type) { - cl_uint num_platforms = 0; - CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms)); - std::unique_ptr platform_ids = std::make_unique(num_platforms); - CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL)); - - for (size_t i = 0; i < num_platforms; ++i) { - LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str()); - - // Get first device - if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) { - cl_print_info(platform_ids[i], device_id); - return device_id; - } - } - LOGE("No valid openCL platform found"); - assert(0); - return nullptr; -} - -cl_context cl_create_context(cl_device_id device_id) { - return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); -} - -void cl_release_context(cl_context context) { - clReleaseContext(context); -} - -cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) { - return cl_program_from_source(ctx, device_id, util::read_file(path), args); -} - -cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) { - const char *csrc = src.c_str(); - cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err)); - if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) { - cl_print_build_errors(prg, device_id); - assert(0); - } - return prg; -} diff --git a/common/clutil.h b/common/clutil.h deleted file mode 100644 index b364e79d4..000000000 --- a/common/clutil.h +++ /dev/null @@ -1,28 +0,0 @@ -#pragma once - -#ifdef __APPLE__ -#include -#else -#include -#endif - -#include - -#define CL_CHECK(_expr) \ - do { \ - assert(CL_SUCCESS == (_expr)); \ - } while (0) - -#define CL_CHECK_ERR(_expr) \ - ({ \ - cl_int err = CL_INVALID_VALUE; \ - __typeof__(_expr) _ret = _expr; \ - assert(_ret&& err == CL_SUCCESS); \ - _ret; \ - }) - -cl_device_id cl_get_device_id(cl_device_type device_type); -cl_context cl_create_context(cl_device_id device_id); -void cl_release_context(cl_context context); -cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr); -cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args); diff --git a/common/file_chunker.py b/common/file_chunker.py new file mode 100644 index 000000000..ac9ddbb38 --- /dev/null +++ b/common/file_chunker.py @@ -0,0 +1,37 @@ +import math +import os +from pathlib import Path + +CHUNK_SIZE = 45 * 1024 * 1024 # 45MB, under GitHub's 50MB limit + +def get_chunk_name(name, idx, num_chunks): + return f"{name}.chunk{idx+1:02d}of{num_chunks:02d}" + +def get_manifest_path(name): + return f"{name}.chunkmanifest" + +def get_chunk_paths(path, file_size): + num_chunks = math.ceil(file_size / CHUNK_SIZE) + return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)] + +def chunk_file(path, targets): + manifest_path, *chunk_paths = targets + with open(path, 'rb') as f: + data = f.read() + actual_num_chunks = max(1, math.ceil(len(data) / CHUNK_SIZE)) + assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}" + for i, chunk_path in enumerate(chunk_paths): + with open(chunk_path, 'wb') as f: + f.write(data[i * CHUNK_SIZE:(i + 1) * CHUNK_SIZE]) + Path(manifest_path).write_text(str(len(chunk_paths))) + os.remove(path) + + +def read_file_chunked(path): + manifest_path = get_manifest_path(path) + if os.path.isfile(manifest_path): + num_chunks = int(Path(manifest_path).read_text().strip()) + return b''.join(Path(get_chunk_name(path, i, num_chunks)).read_bytes() for i in range(num_chunks)) + if os.path.isfile(path): + return Path(path).read_bytes() + raise FileNotFoundError(path) diff --git a/common/mat.h b/common/mat.h deleted file mode 100644 index 8e10d6197..000000000 --- a/common/mat.h +++ /dev/null @@ -1,85 +0,0 @@ -#pragma once - -typedef struct vec3 { - float v[3]; -} vec3; - -typedef struct vec4 { - float v[4]; -} vec4; - -typedef struct mat3 { - float v[3*3]; -} mat3; - -typedef struct mat4 { - float v[4*4]; -} mat4; - -static inline mat3 matmul3(const mat3 &a, const mat3 &b) { - mat3 ret = {{0.0}}; - for (int r=0; r<3; r++) { - for (int c=0; c<3; c++) { - float v = 0.0; - for (int k=0; k<3; k++) { - v += a.v[r*3+k] * b.v[k*3+c]; - } - ret.v[r*3+c] = v; - } - } - return ret; -} - -static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) { - vec3 ret = {{0.0}}; - for (int r=0; r<3; r++) { - for (int c=0; c<3; c++) { - ret.v[r] += a.v[r*3+c] * b.v[c]; - } - } - return ret; -} - -static inline mat4 matmul(const mat4 &a, const mat4 &b) { - mat4 ret = {{0.0}}; - for (int r=0; r<4; r++) { - for (int c=0; c<4; c++) { - float v = 0.0; - for (int k=0; k<4; k++) { - v += a.v[r*4+k] * b.v[k*4+c]; - } - ret.v[r*4+c] = v; - } - } - return ret; -} - -static inline vec4 matvecmul(const mat4 &a, const vec4 &b) { - vec4 ret = {{0.0}}; - for (int r=0; r<4; r++) { - for (int c=0; c<4; c++) { - ret.v[r] += a.v[r*4+c] * b.v[c]; - } - } - return ret; -} - -// scales the input and output space of a transformation matrix -// that assumes pixel-center origin. -static inline mat3 transform_scale_buffer(const mat3 &in, float s) { - // in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s - - mat3 transform_out = {{ - 1.0f/s, 0.0f, 0.5f, - 0.0f, 1.0f/s, 0.5f, - 0.0f, 0.0f, 1.0f, - }}; - - mat3 transform_in = {{ - s, 0.0f, -0.5f*s, - 0.0f, s, -0.5f*s, - 0.0f, 0.0f, 1.0f, - }}; - - return matmul3(transform_in, matmul3(in, transform_out)); -} diff --git a/common/parameterized.py b/common/parameterized.py new file mode 100644 index 000000000..7cd21bb9c --- /dev/null +++ b/common/parameterized.py @@ -0,0 +1,47 @@ +import sys +import pytest +import inspect + + +class parameterized: + @staticmethod + def expand(cases): + cases = list(cases) + + if not cases: + return lambda func: pytest.mark.skip("no parameterized cases")(func) + + def decorator(func): + params = [p for p in inspect.signature(func).parameters if p != 'self'] + normalized = [c if isinstance(c, tuple) else (c,) for c in cases] + # Infer arg count from first case so extra params (e.g. from @given) are left untouched + expand_params = params[: len(normalized[0])] + if len(expand_params) == 1: + return pytest.mark.parametrize(expand_params[0], [c[0] for c in normalized])(func) + return pytest.mark.parametrize(', '.join(expand_params), normalized)(func) + + return decorator + + +def parameterized_class(attrs, input_list=None): + if isinstance(attrs, list) and (not attrs or isinstance(attrs[0], dict)): + params_list = attrs + else: + assert input_list is not None + attr_names = (attrs,) if isinstance(attrs, str) else tuple(attrs) + params_list = [dict(zip(attr_names, v if isinstance(v, (tuple, list)) else (v,), strict=False)) for v in input_list] + + def decorator(cls): + globs = sys._getframe(1).f_globals + for i, params in enumerate(params_list): + name = f"{cls.__name__}_{i}" + new_cls = type(name, (cls,), dict(params)) + new_cls.__module__ = cls.__module__ + new_cls.__test__ = True # override inherited False so pytest collects this subclass + globs[name] = new_cls + # Don't collect the un-parametrised base, but return it so outer decorators + # (e.g. @pytest.mark.skip) land on it and propagate to subclasses via MRO. + cls.__test__ = False + return cls + + return decorator diff --git a/common/prefix.h b/common/prefix.h index 30ee18f63..de3a94d71 100644 --- a/common/prefix.h +++ b/common/prefix.h @@ -27,14 +27,14 @@ public: auto param_path = Params().getParamPath(); if (util::file_exists(param_path)) { std::string real_path = util::readlink(param_path); - system(util::string_format("rm %s -rf", real_path.c_str()).c_str()); + util::check_system(util::string_format("rm %s -rf", real_path.c_str())); unlink(param_path.c_str()); } if (getenv("COMMA_CACHE") == nullptr) { - system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str()); + util::check_system(util::string_format("rm %s -rf", Path::download_cache_root().c_str())); } - system(util::string_format("rm %s -rf", Path::comma_home().c_str()).c_str()); - system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str()); + util::check_system(util::string_format("rm %s -rf", Path::comma_home().c_str())); + util::check_system(util::string_format("rm %s -rf", msgq_path.c_str())); unsetenv("OPENPILOT_PREFIX"); } diff --git a/common/ratekeeper.cc b/common/ratekeeper.cc index 7e6381516..a79acd7d5 100644 --- a/common/ratekeeper.cc +++ b/common/ratekeeper.cc @@ -6,9 +6,9 @@ #include "common/timing.h" #include "common/util.h" -RateKeeper::RateKeeper(const std::string &name, float rate, float print_delay_threshold) - : name(name), - print_delay_threshold(std::max(0.f, print_delay_threshold)) { +RateKeeper::RateKeeper(const std::string &name_, float rate, float print_delay_threshold_) + : name(name_), + print_delay_threshold(std::max(0.f, print_delay_threshold_)) { interval = 1 / rate; last_monitor_time = seconds_since_boot(); next_frame_time = last_monitor_time + interval; diff --git a/common/tests/test_util.cc b/common/tests/test_util.cc index de87fa3e0..d927b98a4 100644 --- a/common/tests/test_util.cc +++ b/common/tests/test_util.cc @@ -36,7 +36,7 @@ TEST_CASE("util::read_file") { REQUIRE(util::read_file(filename).empty()); std::string content = random_bytes(64 * 1024); - write(fd, content.c_str(), content.size()); + REQUIRE(write(fd, content.c_str(), content.size()) == (ssize_t)content.size()); std::string ret = util::read_file(filename); bool equal = (ret == content); REQUIRE(equal); @@ -114,12 +114,12 @@ TEST_CASE("util::safe_fwrite") { } TEST_CASE("util::create_directories") { - system("rm /tmp/test_create_directories -rf"); + REQUIRE(system("rm /tmp/test_create_directories -rf") == 0); std::string dir = "/tmp/test_create_directories/a/b/c/d/e/f"; - auto check_dir_permissions = [](const std::string &dir, mode_t mode) -> bool { + auto check_dir_permissions = [](const std::string &path, mode_t mode) -> bool { struct stat st = {}; - return stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode; + return stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode; }; SECTION("create_directories") { @@ -132,7 +132,7 @@ TEST_CASE("util::create_directories") { } SECTION("a file exists with the same name") { REQUIRE(util::create_directories(dir, 0755)); - int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT); + int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT, 0644); REQUIRE(f != -1); close(f); REQUIRE(util::create_directories(dir + "/file", 0755) == false); diff --git a/common/util.cc b/common/util.cc index 26a2bd60b..84b47e187 100644 --- a/common/util.cc +++ b/common/util.cc @@ -181,9 +181,9 @@ bool file_exists(const std::string& fn) { } static bool createDirectory(std::string dir, mode_t mode) { - auto verify_dir = [](const std::string& dir) -> bool { + auto verify_dir = [](const std::string& path) -> bool { struct stat st = {}; - return (stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR); + return (stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR); }; // remove trailing /'s while (dir.size() > 1 && dir.back() == '/') { @@ -288,7 +288,7 @@ std::string strip(const std::string &str) { std::string check_output(const std::string& command) { char buffer[128]; std::string result; - std::unique_ptr pipe(popen(command.c_str(), "r"), pclose); + std::unique_ptr pipe(popen(command.c_str(), "r"), pclose); if (!pipe) { return ""; @@ -303,7 +303,7 @@ std::string check_output(const std::string& command) { bool system_time_valid() { // Default to August 26, 2024 - tm min_tm = {.tm_year = 2024 - 1900, .tm_mon = 7, .tm_mday = 26}; + tm min_tm = {.tm_mday = 26, .tm_mon = 7, .tm_year = 2024 - 1900}; time_t min_date = mktime(&min_tm); struct stat st; diff --git a/common/util.h b/common/util.h index 6d28e3ccb..98c288353 100644 --- a/common/util.h +++ b/common/util.h @@ -97,6 +97,13 @@ bool create_directories(const std::string &dir, mode_t mode); std::string check_output(const std::string& command); +inline void check_system(const std::string& cmd) { + int ret = std::system(cmd.c_str()); + if (ret != 0) { + fprintf(stderr, "system command failed (%d): %s\n", ret, cmd.c_str()); + } +} + bool system_time_valid(); inline void sleep_for(const int milliseconds) { diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md index 7583095ea..62468c744 100644 --- a/docs/CONTRIBUTING.md +++ b/docs/CONTRIBUTING.md @@ -13,13 +13,13 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu ## What contributions are we looking for? **openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.** -openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal. +openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal. ### What gets merged? The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged. If a PR offers *some* value but will take lots of time to get merged, it will be closed. -Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. +Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. All of these are examples of good PRs: * typo fix: https://github.com/commaai/openpilot/pull/30678 @@ -29,17 +29,17 @@ All of these are examples of good PRs: ### What doesn't get merged? -* **style changes**: code is art, and it's up to the author to make it beautiful +* **style changes**: code is art, and it's up to the author to make it beautiful * **500+ line PRs**: clean it up, break it up into smaller PRs, or both * **PRs without a clear goal**: every PR must have a singular and clear goal * **UI design**: we do not have a good review process for this yet * **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't. -* **Negative expected value**: This a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged. +* **Negative expected value**: This is a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged. ### First contribution [Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty. -There's lot of bounties that don't require a comma 3X or a car. +There are a lot of bounties that don't require a comma 3X or a car. ## Pull Requests diff --git a/msgq_repo b/msgq_repo index 4c4e814ed..ed2777747 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit 4c4e814ed592db52431bb53d37f0bb93299e960c +Subproject commit ed2777747d60de5a399b74ef1d4be4c1fb406ae1 diff --git a/opendbc_repo b/opendbc_repo index cbcd12695..a4182dab1 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit cbcd126951094311ab5a43dd384a495cd881c080 +Subproject commit a4182dab12d5e0971360973c8cceca5af2e3f79c diff --git a/panda b/panda index a95e060e8..2b9ee9676 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit a95e060e855dc59898dd3bf2274a598dacdd2571 +Subproject commit 2b9ee96761ccfb2270ff8aeb9ac186a4e13cdb87 diff --git a/pyproject.toml b/pyproject.toml index 3d6eb0747..92cce5afa 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -20,26 +20,32 @@ dependencies = [ # core "cffi", "scons", - "pycapnp==2.1.0", + "pycapnp", "Cython", "setuptools", "numpy >=2.0", + # vendored native dependencies + "capnproto @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=capnproto", + "eigen @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=eigen", + "ffmpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ffmpeg", + "libjpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=libjpeg", + "openssl3 @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=openssl3", + "python3-dev @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=python3-dev", + "zstd @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zstd", + "ncurses @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ncurses", + "zeromq @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zeromq", + "git-lfs @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=git-lfs", + # body / webrtcd + "av", "aiohttp", "aiortc", - # aiortc does not put an upper bound on pyopenssl and is now incompatible - # with the latest release - "pyopenssl < 24.3.0", - "pyaudio", # panda "libusb1", "spidev; platform_system == 'Linux'", - # modeld - "onnx >= 1.14.0", - # logging "pyzmq", "sentry-sdk", @@ -67,7 +73,6 @@ dependencies = [ # ui "raylib > 5.5.0.3", "qrcode", - "mapbox-earcut", "jeepney", ] @@ -86,7 +91,6 @@ testing = [ "pytest-subtests", # https://github.com/pytest-dev/pytest-xdist/pull/1229 "pytest-xdist @ git+https://github.com/sshane/pytest-xdist@2b4372bd62699fb412c4fe2f95bf9f01bd2018da", - "pytest-timeout", "pytest-asyncio", "pytest-mock", "ruff", @@ -95,17 +99,13 @@ testing = [ ] dev = [ - "av", - "dictdiffer", "matplotlib", "opencv-python-headless", - "parameterized >=0.8, <0.9", - "pyautogui", - "pywinctl", + "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=gcc-arm-none-eabi", ] tools = [ - "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')", + "metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')", "dearpygui>=2.1.0; (sys_platform != 'linux' or platform_machine != 'aarch64')", # not vended for linux aarch64 ] @@ -124,12 +124,11 @@ allow-direct-references = true [tool.pytest.ini_options] minversion = "6.0" -addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup" +addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ -Werror --strict-config --strict-markers --durations=20 --maxprocesses=8 -n auto --dist=loadgroup" cpp_files = "test_*" cpp_harness = "selfdrive/test/cpp_harness.py" python_files = "test_*.py" asyncio_default_fixture_loop_scope = "function" -#timeout = "30" # you get this long by default markers = [ "slow: tests that take awhile to run and can be skipped with -m 'not slow'", "tici: tests that are only meant to run on the C3/C3X", @@ -147,7 +146,7 @@ testpaths = [ [tool.codespell] quiet-level = 3 # if you've got a short variable name that's getting flagged, add it here -ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite" +ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite,ser" builtin = "clear,rare,informal,code,names,en-GB_to_en-US" skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html" diff --git a/rednose_repo b/rednose_repo index 7fddc8e6d..6ccb8d055 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit 7fddc8e6d49def83c952a78673179bdc62789214 +Subproject commit 6ccb8d055652cd9769b5e418edf116272fde4e09 diff --git a/release/build_release.sh b/release/build_release.sh index 9bd4c81f6..22d880991 100755 --- a/release/build_release.sh +++ b/release/build_release.sh @@ -72,9 +72,8 @@ find . -name '*.pyc' -delete find . -name 'moc_*' -delete find . -name '__pycache__' -delete rm -rf .sconsign.dblite Jenkinsfile release/ -rm selfdrive/modeld/models/driving_vision.onnx -rm selfdrive/modeld/models/driving_policy.onnx -rm sunnypilot/modeld*/models/supercombo.onnx +rm -f selfdrive/modeld/models/*.onnx +rm -f sunnypilot/modeld*/models/*.onnx find third_party/ -name '*x86*' -exec rm -r {} + find third_party/ -name '*Darwin*' -exec rm -r {} + diff --git a/release/ci/docker_build_sp.sh b/release/ci/docker_build_sp.sh index 9a8d390c6..369daf523 100755 --- a/release/ci/docker_build_sp.sh +++ b/release/ci/docker_build_sp.sh @@ -1,12 +1,14 @@ #!/usr/bin/env bash set -e -# To build sim and docs, you can run the following to mount the scons cache to the same place as in CI: -# mkdir -p .ci_cache/scons_cache -# sudo mount --bind /tmp/scons_cache/ .ci_cache/scons_cache - SCRIPT_DIR=$(dirname "$0") OPENPILOT_DIR=$SCRIPT_DIR/../../ + +DOCKER_IMAGE=sunnypilot +DOCKER_FILE=Dockerfile.openpilot +DOCKER_REGISTRY=ghcr.io/sunnypilot +COMMIT_SHA=$(git rev-parse HEAD) + if [ -n "$TARGET_ARCHITECTURE" ]; then PLATFORM="linux/$TARGET_ARCHITECTURE" TAG_SUFFIX="-$TARGET_ARCHITECTURE" @@ -15,9 +17,11 @@ else TAG_SUFFIX="" fi -source $SCRIPT_DIR/docker_common_sp.sh $1 "$TAG_SUFFIX" +LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX +REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG +REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA -DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR +DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR if [ -n "$PUSH_IMAGE" ]; then docker push $REMOTE_TAG diff --git a/release/ci/docker_common_sp.sh b/release/ci/docker_common_sp.sh deleted file mode 100755 index e8f515762..000000000 --- a/release/ci/docker_common_sp.sh +++ /dev/null @@ -1,18 +0,0 @@ -if [ "$1" = "base" ]; then - export DOCKER_IMAGE=sunnypilot-base - export DOCKER_FILE=Dockerfile.sunnypilot_base -elif [ "$1" = "prebuilt" ]; then - export DOCKER_IMAGE=sunnypilot-prebuilt - export DOCKER_FILE=Dockerfile.sunnypilot -else - echo "Invalid docker build image: '$1'" - exit 1 -fi - -export DOCKER_REGISTRY=ghcr.io/sunnypilot -export COMMIT_SHA=$(git rev-parse HEAD) - -TAG_SUFFIX=$2 -LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX -REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG -REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA diff --git a/scripts/reporter.py b/scripts/reporter.py index 903fcc891..d894b8af4 100755 --- a/scripts/reporter.py +++ b/scripts/reporter.py @@ -1,17 +1,33 @@ #!/usr/bin/env python3 import os import glob -import onnx + +from tinygrad.nn.onnx import OnnxPBParser BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")) + MASTER_PATH = os.getenv("MASTER_PATH", BASEDIR) MODEL_PATH = "/selfdrive/modeld/models/" + +class MetadataOnnxPBParser(OnnxPBParser): + def _parse_ModelProto(self) -> dict: + obj = {"metadata_props": []} + for fid, wire_type in self._parse_message(self.reader.len): + match fid: + case 14: + obj["metadata_props"].append(self._parse_StringStringEntryProto()) + case _: + self.reader.skip_field(wire_type) + return obj + + def get_checkpoint(f): - model = onnx.load(f) - metadata = {prop.key: prop.value for prop in model.metadata_props} + model = MetadataOnnxPBParser(f).parse() + metadata = {prop["key"]: prop["value"] for prop in model["metadata_props"]} return metadata['model_checkpoint'].split('/')[0] + if __name__ == "__main__": print("| | master | PR branch |") print("|-| ----- | --------- |") @@ -24,8 +40,4 @@ if __name__ == "__main__": fn = os.path.basename(f) master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn) pr = get_checkpoint(BASEDIR + MODEL_PATH + fn) - print( - "|", fn, "|", - f"[{master}](https://reporter.comma.life/experiment/{master})", "|", - f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|" - ) + print("|", fn, "|", f"[{master}](https://reporter.comma.life/experiment/{master})", "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|") diff --git a/selfdrive/assets/icons_mici/buttons/button_circle_hover.png b/selfdrive/assets/icons_mici/buttons/button_circle_hover.png deleted file mode 100644 index 5cae15210..000000000 --- a/selfdrive/assets/icons_mici/buttons/button_circle_hover.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:20024203288f144633014422e16119278477099f24fba5c155a804a1864a26b4 -size 7511 diff --git a/selfdrive/assets/icons_mici/buttons/button_circle_pressed.png b/selfdrive/assets/icons_mici/buttons/button_circle_pressed.png new file mode 100644 index 000000000..9db0c2cd8 --- /dev/null +++ b/selfdrive/assets/icons_mici/buttons/button_circle_pressed.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70d4236bcfd3aa8f100b81179c1e0f193c6ffbd84769c4a516be4381e62b270a +size 18666 diff --git a/selfdrive/assets/icons_mici/buttons/button_circle_red_hover.png b/selfdrive/assets/icons_mici/buttons/button_circle_red_hover.png deleted file mode 100644 index 3696334d5..000000000 --- a/selfdrive/assets/icons_mici/buttons/button_circle_red_hover.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:279c1d8f95eb9f4a3058dff76b0f316ce9eef7bc8f4296936ad25fd08703ce13 -size 10380 diff --git 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a/selfdrive/assets/icons_mici/buttons/button_rectangle_disabled.png b/selfdrive/assets/icons_mici/buttons/button_rectangle_disabled.png index 76e75d542..5e891588f 100644 --- a/selfdrive/assets/icons_mici/buttons/button_rectangle_disabled.png +++ b/selfdrive/assets/icons_mici/buttons/button_rectangle_disabled.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bda53863c9a46c50a1e2920a76c2d2f1fe4df8a94b8d2e26f5d83eef3a9c3bd3 -size 3627 +oid sha256:d527dcff61fa66902681706b4916586244b8cf0520086ac980ff782ab2d99ce7 +size 4778 diff --git a/selfdrive/assets/icons_mici/buttons/button_rectangle_hover.png b/selfdrive/assets/icons_mici/buttons/button_rectangle_hover.png deleted file mode 100644 index a9fd28cc3..000000000 --- a/selfdrive/assets/icons_mici/buttons/button_rectangle_hover.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6b55e43c50e805ac5e8357e5943374ed02d756cefa3aaffb58c568a0b125c30b -size 7750 diff --git 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b/selfdrive/assets/icons_mici/settings/network/new/connect_button_pressed.png deleted file mode 100644 index 0da6c384d..000000000 --- a/selfdrive/assets/icons_mici/settings/network/new/connect_button_pressed.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:4337098554af30c98ebd512e17ab08207db868ff34acca5f865fcbfc940286d3 -size 21123 diff --git a/selfdrive/assets/icons_mici/settings/network/new/full_connect_button.png b/selfdrive/assets/icons_mici/settings/network/new/full_connect_button.png deleted file mode 100644 index 905170fd1..000000000 --- a/selfdrive/assets/icons_mici/settings/network/new/full_connect_button.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:ffd37d5e5d5980efa98fee1cd0e8ebbf4139149b41c099e7dc3d5bd402cffb92 -size 9072 diff --git a/selfdrive/assets/icons_mici/settings/network/new/full_connect_button_pressed.png b/selfdrive/assets/icons_mici/settings/network/new/full_connect_button_pressed.png deleted file mode 100644 index 88eb4ac2a..000000000 --- a/selfdrive/assets/icons_mici/settings/network/new/full_connect_button_pressed.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:1b1d58704f8808dcb5a7ce9d86bc4212477759e96ac2419475f16f9184ee6a42 -size 21892 diff --git a/selfdrive/assets/icons_mici/settings/network/new/lock.png b/selfdrive/assets/icons_mici/settings/network/new/lock.png index 9fc152d3d..65bd71f65 100644 --- a/selfdrive/assets/icons_mici/settings/network/new/lock.png +++ b/selfdrive/assets/icons_mici/settings/network/new/lock.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:782161f35b4925c7063c441b0c341331c814614cf241f21b4e70134280c630f0 -size 1182 +oid sha256:7488c1aa69b728387b2cf300a614cc64e3c2305d2b509c14cf44cad65d20d85c +size 2509 diff --git a/selfdrive/assets/icons_mici/settings/network/new/wifi_selected.png b/selfdrive/assets/icons_mici/settings/network/new/wifi_selected.png deleted file mode 100644 index 2a3e83713..000000000 --- a/selfdrive/assets/icons_mici/settings/network/new/wifi_selected.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:160f67162e075436200d6719e614ddf96caaa2b7c0a3943f728c2afef10aa4ad -size 2489 diff --git a/selfdrive/assets/icons_mici/setup/small_slider/slider_black_rounded_rectangle_pressed.png b/selfdrive/assets/icons_mici/setup/small_slider/slider_black_rounded_rectangle_pressed.png new file mode 100644 index 000000000..470bfc50c --- /dev/null +++ b/selfdrive/assets/icons_mici/setup/small_slider/slider_black_rounded_rectangle_pressed.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1dd642ae4708cc7a837e8ef8b4c75f578654d241f8c854249c2b1ade640ceca +size 14058 diff --git a/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle.png b/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle.png index 9ebff76b5..88e6985f1 100644 --- a/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle.png +++ b/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bcd08444c77b3e559876eeb88d17808f72496adc26e27c3c21c00ff410879447 -size 10966 +oid sha256:5ba98ab2b75f0c1f8fdffb9eab0a742645b80ef4ca404c007f374a5e0fd48d8c +size 10254 diff --git a/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle_pressed.png b/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle_pressed.png new file mode 100644 index 000000000..999cdafcc --- /dev/null +++ b/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle_pressed.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4545fdbaf67402b28b18644a7353a0620250ece6416c1b0ce0e27c758817b042 +size 26729 diff --git a/selfdrive/assets/icons_mici/setup/small_slider/slider_red_circle_pressed.png b/selfdrive/assets/icons_mici/setup/small_slider/slider_red_circle_pressed.png new file mode 100644 index 000000000..eea6eded8 --- /dev/null +++ b/selfdrive/assets/icons_mici/setup/small_slider/slider_red_circle_pressed.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a804da77b268f0a625f93949642ae74cdfe5b5caa5baea1c52c4605ae25c80e4 +size 12916 diff --git a/selfdrive/assets/icons_mici/turn_intent_right.png b/selfdrive/assets/icons_mici/turn_intent_right.png deleted file mode 100644 index e34277873..000000000 --- a/selfdrive/assets/icons_mici/turn_intent_right.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:7b7e0194a8b9009e493cdce35cd15711596a54227c740e9d6419a3891c6c4037 -size 912 diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 61a790665..cd44759cb 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -1,7 +1,7 @@ import os import hypothesis.strategies as st from hypothesis import Phase, given, settings -from parameterized import parameterized +from openpilot.common.parameterized import parameterized from cereal import car, custom from opendbc.car import DT_CTRL diff --git a/selfdrive/car/tests/test_cruise_speed.py b/selfdrive/car/tests/test_cruise_speed.py index 61bae6893..d3ca6eed4 100644 --- a/selfdrive/car/tests/test_cruise_speed.py +++ b/selfdrive/car/tests/test_cruise_speed.py @@ -2,7 +2,7 @@ import pytest import itertools import numpy as np -from parameterized import parameterized_class +from openpilot.common.parameterized import parameterized_class from cereal import log from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT from cereal import car, custom diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index a5a0b1ce6..209df3b15 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -7,7 +7,7 @@ import unittest # noqa: TID251 from collections import defaultdict, Counter import hypothesis.strategies as st from hypothesis import Phase, given, settings -from parameterized import parameterized_class +from openpilot.common.parameterized import parameterized_class from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs from opendbc.car.can_definitions import CanData diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py index 8f66d89bf..1eb88d720 100644 --- a/selfdrive/controls/tests/test_following_distance.py +++ b/selfdrive/controls/tests/test_following_distance.py @@ -1,6 +1,6 @@ import pytest import itertools -from parameterized import parameterized_class +from openpilot.common.parameterized import parameterized_class from cereal import log @@ -42,4 +42,5 @@ class TestFollowingDistance: simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e, personality=self.personality) correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality)) err_ratio = 0.2 if self.e2e else 0.1 - assert simulation_steady_state == pytest.approx(correct_steady_state, abs=err_ratio * correct_steady_state + .5) + abs_err_margin = 0.5 if v_lead > 0.0 else 1.15 + assert simulation_steady_state == pytest.approx(correct_steady_state, abs=err_ratio * correct_steady_state + abs_err_margin) diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py index 418004761..d36ed5219 100644 --- a/selfdrive/controls/tests/test_latcontrol.py +++ b/selfdrive/controls/tests/test_latcontrol.py @@ -1,4 +1,4 @@ -from parameterized import parameterized +from openpilot.common.parameterized import parameterized from cereal import car, log from opendbc.car.car_helpers import interfaces diff --git a/selfdrive/controls/tests/test_latcontrol_torque_buffer.py b/selfdrive/controls/tests/test_latcontrol_torque_buffer.py index 52810ff55..b13576a6c 100644 --- a/selfdrive/controls/tests/test_latcontrol_torque_buffer.py +++ b/selfdrive/controls/tests/test_latcontrol_torque_buffer.py @@ -1,4 +1,4 @@ -from parameterized import parameterized +from openpilot.common.parameterized import parameterized from cereal import car, log from opendbc.car.car_helpers import interfaces diff --git a/selfdrive/debug/mem_usage.py b/selfdrive/debug/mem_usage.py index 9bed566e1..3451bfc3d 100755 --- a/selfdrive/debug/mem_usage.py +++ b/selfdrive/debug/mem_usage.py @@ -4,8 +4,8 @@ import os from collections import defaultdict import numpy as np -from tabulate import tabulate +from openpilot.common.utils import tabulate from openpilot.tools.lib.logreader import LogReader DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19" diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py index a3dfce9c2..e9b5aff6d 100644 --- a/selfdrive/locationd/test/test_lagd.py +++ b/selfdrive/locationd/test/test_lagd.py @@ -120,7 +120,6 @@ class TestLagd: assert msg.liveDelay.calPerc == 100 @pytest.mark.skipif(PC, reason="only on device") - @pytest.mark.timeout(60) def test_estimator_performance(self): mocked_CP = car.CarParams(steerActuatorDelay=0.8) estimator = LateralLagEstimator(mocked_CP, DT) diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 7865e86f6..ff63b644d 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -1,59 +1,62 @@ import os import glob +from openpilot.common.file_chunker import chunk_file, get_chunk_paths -Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc') +Import('env', 'arch') +chunker_file = File("#common/file_chunker.py") lenv = env.Clone() -lenvCython = envCython.Clone() -libs = [cereal, messaging, visionipc, common, 'capnp', 'kj', 'pthread'] -frameworks = [] +tinygrad_root = env.Dir("#").abspath +tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=tinygrad_root) + if 'pycache' not in x and os.path.isfile(os.path.join(tinygrad_root, x))] -common_src = [ - "models/commonmodel.cc", - "transforms/loadyuv.cc", - "transforms/transform.cc", -] +def estimate_pickle_max_size(onnx_size): + return 1.2 * onnx_size + 10 * 1024 * 1024 # 20% + 10MB is plenty -# OpenCL is a framework on Mac -if arch == "Darwin": - frameworks += ['OpenCL'] -else: - libs += ['OpenCL'] - -# Set path definitions -for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items(): - for xenv in (lenv, lenvCython): - xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"') - -# Compile cython -cython_libs = envCython["LIBS"] + libs -commonmodel_lib = lenv.Library('commonmodel', common_src) -lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) -tinygrad_files = sorted(["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]) +# compile warp +# THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689 +tg_flags = { + 'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0', + 'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env +}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0 IMAGE=0') # Get model metadata for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: fn = File(f"models/{model_name}").abspath script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)] - cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx' + cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx' lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd) +image_flag = { + 'larch64': 'IMAGE=2', +}.get(arch, 'IMAGE=0') +script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)] +compile_warp_cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py ' +from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye +warp_targets = [] +for cam in [_ar_ox_fisheye, _os_fisheye]: + w, h = cam.width, cam.height + warp_targets += [File(f"models/warp_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath] +lenv.Command(warp_targets, tinygrad_files + script_files, compile_warp_cmd) + def tg_compile(flags, model_name): pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"' fn = File(f"models/{model_name}").abspath + pkl = fn + "_tinygrad.pkl" + onnx_path = fn + ".onnx" + chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path))) + def do_chunk(target, source, env): + chunk_file(pkl, chunk_targets) return lenv.Command( - fn + "_tinygrad.pkl", - [fn + ".onnx"] + tinygrad_files, - f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl' + chunk_targets, + [onnx_path] + tinygrad_files + [chunker_file], + [f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}', + do_chunk] ) # Compile small models for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: - flags = { - 'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 IMAGE=2 JIT_BATCH_SIZE=0', - 'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env - }.get(arch, 'DEV=CPU CPU_LLVM=1 IMAGE=0') - tg_compile(flags, model_name) + tg_compile(tg_flags, model_name) # Compile BIG model if USB GPU is available if "USBGPU" in os.environ: diff --git a/selfdrive/modeld/compile_warp.py b/selfdrive/modeld/compile_warp.py new file mode 100755 index 000000000..75cc65f84 --- /dev/null +++ b/selfdrive/modeld/compile_warp.py @@ -0,0 +1,209 @@ +#!/usr/bin/env python3 +import time +import pickle +import numpy as np +from pathlib import Path +from tinygrad.tensor import Tensor +from tinygrad.helpers import Context +from tinygrad.device import Device +from tinygrad.engine.jit import TinyJit + +from openpilot.system.camerad.cameras.nv12_info import get_nv12_info +from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE +from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye + +MODELS_DIR = Path(__file__).parent / 'models' + +CAMERA_CONFIGS = [ + (_ar_ox_fisheye.width, _ar_ox_fisheye.height), # tici: 1928x1208 + (_os_fisheye.width, _os_fisheye.height), # mici: 1344x760 +] + +UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32) +UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX) + +IMG_BUFFER_SHAPE = (30, MEDMODEL_INPUT_SIZE[1] // 2, MEDMODEL_INPUT_SIZE[0] // 2) + + +def warp_pkl_path(w, h): + return MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl' + + +def dm_warp_pkl_path(w, h): + return MODELS_DIR / f'dm_warp_{w}x{h}_tinygrad.pkl' + + +def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad): + w_dst, h_dst = dst_shape + h_src, w_src = src_shape + + x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1) + y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1) + + # inline 3x3 matmul as elementwise to avoid reduce op (enables fusion with gather) + src_x = M_inv[0, 0] * x + M_inv[0, 1] * y + M_inv[0, 2] + src_y = M_inv[1, 0] * x + M_inv[1, 1] * y + M_inv[1, 2] + src_w = M_inv[2, 0] * x + M_inv[2, 1] * y + M_inv[2, 2] + + src_x = src_x / src_w + src_y = src_y / src_w + + x_nn_clipped = Tensor.round(src_x).clip(0, w_src - 1).cast('int') + y_nn_clipped = Tensor.round(src_y).clip(0, h_src - 1).cast('int') + idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped + + return src_flat[idx] + + +def frames_to_tensor(frames, model_w, model_h): + H = (frames.shape[0] * 2) // 3 + W = frames.shape[1] + in_img1 = Tensor.cat(frames[0:H:2, 0::2], + frames[1:H:2, 0::2], + frames[0:H:2, 1::2], + frames[1:H:2, 1::2], + frames[H:H+H//4].reshape((H//2, W//2)), + frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2)) + return in_img1 + + +def make_frame_prepare(cam_w, cam_h, model_w, model_h): + stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h) + uv_offset = stride * y_height + stride_pad = stride - cam_w + + def frame_prepare_tinygrad(input_frame, M_inv): + # UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling + M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]]) + # deinterleave NV12 UV plane (UVUV... -> separate U, V) + uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride) + with Context(SPLIT_REDUCEOP=0): + y = warp_perspective_tinygrad(input_frame[:cam_h*stride], + M_inv, (model_w, model_h), + (cam_h, cam_w), stride_pad).realize() + u = warp_perspective_tinygrad(uv[:cam_h//2, :cam_w:2].flatten(), + M_inv_uv, (model_w//2, model_h//2), + (cam_h//2, cam_w//2), 0).realize() + v = warp_perspective_tinygrad(uv[:cam_h//2, 1:cam_w:2].flatten(), + M_inv_uv, (model_w//2, model_h//2), + (cam_h//2, cam_w//2), 0).realize() + yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w)) + tensor = frames_to_tensor(yuv, model_w, model_h) + return tensor + return frame_prepare_tinygrad + + +def make_update_img_input(frame_prepare, model_w, model_h): + def update_img_input_tinygrad(tensor, frame, M_inv): + M_inv = M_inv.to(Device.DEFAULT) + new_img = frame_prepare(frame, M_inv) + full_buffer = tensor[6:].cat(new_img, dim=0).contiguous() + return full_buffer, Tensor.cat(full_buffer[:6], full_buffer[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2) + return update_img_input_tinygrad + + +def make_update_both_imgs(frame_prepare, model_w, model_h): + update_img = make_update_img_input(frame_prepare, model_w, model_h) + + def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv, + calib_big_img_buffer, new_big_img, M_inv_big): + calib_img_buffer, calib_img_pair = update_img(calib_img_buffer, new_img, M_inv) + calib_big_img_buffer, calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big) + return calib_img_buffer, calib_img_pair, calib_big_img_buffer, calib_big_img_pair + return update_both_imgs_tinygrad + + +def make_warp_dm(cam_w, cam_h, dm_w, dm_h): + stride, y_height, _, _ = get_nv12_info(cam_w, cam_h) + stride_pad = stride - cam_w + + def warp_dm(input_frame, M_inv): + M_inv = M_inv.to(Device.DEFAULT) + result = warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w) + return result + return warp_dm + + +def compile_modeld_warp(cam_w, cam_h): + model_w, model_h = MEDMODEL_INPUT_SIZE + _, _, _, yuv_size = get_nv12_info(cam_w, cam_h) + + print(f"Compiling modeld warp for {cam_w}x{cam_h}...") + + frame_prepare = make_frame_prepare(cam_w, cam_h, model_w, model_h) + update_both_imgs = make_update_both_imgs(frame_prepare, model_w, model_h) + update_img_jit = TinyJit(update_both_imgs, prune=True) + + full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize() + big_full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize() + full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8) + big_full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8) + + for i in range(10): + new_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8) + img_inputs = [full_buffer, + Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(), + Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')] + new_big_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8) + big_img_inputs = [big_full_buffer, + Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(), + Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')] + inputs = img_inputs + big_img_inputs + Device.default.synchronize() + + inputs_np = [x.numpy() for x in inputs] + inputs_np[0] = full_buffer_np + inputs_np[3] = big_full_buffer_np + + st = time.perf_counter() + out = update_img_jit(*inputs) + full_buffer = out[0].contiguous().realize().clone() + big_full_buffer = out[2].contiguous().realize().clone() + mt = time.perf_counter() + Device.default.synchronize() + et = time.perf_counter() + print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms") + + pkl_path = warp_pkl_path(cam_w, cam_h) + with open(pkl_path, "wb") as f: + pickle.dump(update_img_jit, f) + print(f" Saved to {pkl_path}") + + jit = pickle.load(open(pkl_path, "rb")) + jit(*inputs) + + +def compile_dm_warp(cam_w, cam_h): + dm_w, dm_h = DM_INPUT_SIZE + _, _, _, yuv_size = get_nv12_info(cam_w, cam_h) + + print(f"Compiling DM warp for {cam_w}x{cam_h}...") + + warp_dm = make_warp_dm(cam_w, cam_h, dm_w, dm_h) + warp_dm_jit = TinyJit(warp_dm, prune=True) + + for i in range(10): + inputs = [Tensor.from_blob((32 * Tensor.randn(yuv_size,) + 128).cast(dtype='uint8').realize().numpy().ctypes.data, (yuv_size,), dtype='uint8'), + Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')] + Device.default.synchronize() + st = time.perf_counter() + warp_dm_jit(*inputs) + mt = time.perf_counter() + Device.default.synchronize() + et = time.perf_counter() + print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms") + + pkl_path = dm_warp_pkl_path(cam_w, cam_h) + with open(pkl_path, "wb") as f: + pickle.dump(warp_dm_jit, f) + print(f" Saved to {pkl_path}") + + +def run_and_save_pickle(): + for cam_w, cam_h in CAMERA_CONFIGS: + compile_modeld_warp(cam_w, cam_h) + compile_dm_warp(cam_w, cam_h) + + +if __name__ == "__main__": + run_and_save_pickle() diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index 717799857..28190db3e 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -3,7 +3,6 @@ import os from openpilot.system.hardware import TICI os.environ['DEV'] = 'QCOM' if TICI else 'CPU' from tinygrad.tensor import Tensor -from tinygrad.dtype import dtypes import time import pickle import numpy as np @@ -16,50 +15,57 @@ from openpilot.common.swaglog import cloudlog from openpilot.common.realtime import config_realtime_process from openpilot.common.transformations.model import dmonitoringmodel_intrinsics from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye -from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame +from openpilot.system.camerad.cameras.nv12_info import get_nv12_info +from openpilot.common.file_chunker import read_file_chunked from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp -from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld" SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl' METADATA_PATH = Path(__file__).parent / 'models/dmonitoring_model_metadata.pkl' - +MODELS_DIR = Path(__file__).parent / 'models' class ModelState: inputs: dict[str, np.ndarray] output: np.ndarray - def __init__(self, cl_ctx): + def __init__(self): with open(METADATA_PATH, 'rb') as f: model_metadata = pickle.load(f) self.input_shapes = model_metadata['input_shapes'] self.output_slices = model_metadata['output_slices'] - self.frame = MonitoringModelFrame(cl_ctx) self.numpy_inputs = { 'calib': np.zeros(self.input_shapes['calib'], dtype=np.float32), } + self.warp_inputs_np = {'transform': np.zeros((3,3), dtype=np.float32)} + self.warp_inputs = {k: Tensor(v, device='NPY') for k,v in self.warp_inputs_np.items()} + self.frame_buf_params = None self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()} - with open(MODEL_PKL_PATH, "rb") as f: - self.model_run = pickle.load(f) + self._blob_cache : dict[int, Tensor] = {} + self.image_warp = None + self.model_run = pickle.loads(read_file_chunked(str(MODEL_PKL_PATH))) def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]: self.numpy_inputs['calib'][0,:] = calib t1 = time.perf_counter() - input_img_cl = self.frame.prepare(buf, transform.flatten()) - if TICI: - # The imgs tensors are backed by opencl memory, only need init once - if 'input_img' not in self.tensor_inputs: - self.tensor_inputs['input_img'] = qcom_tensor_from_opencl_address(input_img_cl.mem_address, self.input_shapes['input_img'], dtype=dtypes.uint8) - else: - self.tensor_inputs['input_img'] = Tensor(self.frame.buffer_from_cl(input_img_cl).reshape(self.input_shapes['input_img']), dtype=dtypes.uint8).realize() + if self.image_warp is None: + self.frame_buf_params = get_nv12_info(buf.width, buf.height) + warp_path = MODELS_DIR / f'dm_warp_{buf.width}x{buf.height}_tinygrad.pkl' + with open(warp_path, "rb") as f: + self.image_warp = pickle.load(f) + ptr = buf.data.ctypes.data + # There is a ringbuffer of imgs, just cache tensors pointing to all of them + if ptr not in self._blob_cache: + self._blob_cache[ptr] = Tensor.from_blob(ptr, (self.frame_buf_params[3],), dtype='uint8') + self.warp_inputs_np['transform'][:] = transform[:] + self.tensor_inputs['input_img'] = self.image_warp(self._blob_cache[ptr], self.warp_inputs['transform']).realize() - output = self.model_run(**self.tensor_inputs).numpy().flatten() + output = self.model_run(**self.tensor_inputs).contiguous().realize().uop.base.buffer.numpy().flatten() t2 = time.perf_counter() return output, t2 - t1 @@ -107,12 +113,11 @@ def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_t def main(): config_realtime_process(7, 5) - cl_context = CLContext() - model = ModelState(cl_context) + model = ModelState() cloudlog.warning("models loaded, dmonitoringmodeld starting") cloudlog.warning("connecting to driver stream") - vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True, cl_context) + vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True) while not vipc_client.connect(False): time.sleep(0.1) assert vipc_client.is_connected() diff --git a/selfdrive/modeld/get_model_metadata.py b/selfdrive/modeld/get_model_metadata.py index 2001d23d7..838b1e9f4 100755 --- a/selfdrive/modeld/get_model_metadata.py +++ b/selfdrive/modeld/get_model_metadata.py @@ -1,33 +1,51 @@ #!/usr/bin/env python3 import sys import pathlib -import onnx import codecs import pickle from typing import Any -def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]: - shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim]) - name = value_info.name +from tinygrad.nn.onnx import OnnxPBParser + + +class MetadataOnnxPBParser(OnnxPBParser): + def _parse_ModelProto(self) -> dict: + obj: dict[str, Any] = {"graph": {"input": [], "output": []}, "metadata_props": []} + for fid, wire_type in self._parse_message(self.reader.len): + match fid: + case 7: + obj["graph"] = self._parse_GraphProto() + case 14: + obj["metadata_props"].append(self._parse_StringStringEntryProto()) + case _: + self.reader.skip_field(wire_type) + return obj + + +def get_name_and_shape(value_info: dict[str, Any]) -> tuple[str, tuple[int, ...]]: + shape = tuple(int(dim) if isinstance(dim, int) else 0 for dim in value_info["parsed_type"].shape) + name = value_info["name"] return name, shape -def get_metadata_value_by_name(model:onnx.ModelProto, name:str) -> str | Any: - for prop in model.metadata_props: - if prop.key == name: - return prop.value + +def get_metadata_value_by_name(model: dict[str, Any], name: str) -> str | Any: + for prop in model["metadata_props"]: + if prop["key"] == name: + return prop["value"] return None + if __name__ == "__main__": model_path = pathlib.Path(sys.argv[1]) - model = onnx.load(str(model_path)) + model = MetadataOnnxPBParser(model_path).parse() output_slices = get_metadata_value_by_name(model, 'output_slices') assert output_slices is not None, 'output_slices not found in metadata' metadata = { 'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'), 'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")), - 'input_shapes': dict([get_name_and_shape(x) for x in model.graph.input]), - 'output_shapes': dict([get_name_and_shape(x) for x in model.graph.output]) + 'input_shapes': dict(get_name_and_shape(x) for x in model["graph"]["input"]), + 'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]), } metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl') diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 216c5da44..fd55eeb16 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -7,7 +7,6 @@ if USBGPU: os.environ['DEV'] = 'AMD' os.environ['AMD_IFACE'] = 'USB' from tinygrad.tensor import Tensor -from tinygrad.dtype import dtypes import time import pickle import numpy as np @@ -22,14 +21,14 @@ from openpilot.common.params import Params from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import config_realtime_process, DT_MDL from openpilot.common.transformations.camera import DEVICE_CAMERAS +from openpilot.system.camerad.cameras.nv12_info import get_nv12_info from openpilot.common.transformations.model import get_warp_matrix from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState +from openpilot.common.file_chunker import read_file_chunked from openpilot.selfdrive.modeld.constants import ModelConstants, Plan -from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext -from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address from openpilot.sunnypilot.livedelay.helpers import get_lat_delay from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase @@ -42,11 +41,15 @@ VISION_PKL_PATH = Path(__file__).parent / 'models/driving_vision_tinygrad.pkl' POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' +MODELS_DIR = Path(__file__).parent / 'models' LAT_SMOOTH_SECONDS = 0.0 LONG_SMOOTH_SECONDS = 0.3 MIN_LAT_CONTROL_SPEED = 0.3 +IMG_QUEUE_SHAPE = (6*(ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ + 1), 128, 256) +assert IMG_QUEUE_SHAPE[0] == 30 + def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action, lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action: @@ -139,12 +142,11 @@ class InputQueues: return out class ModelState(ModelStateBase): - frames: dict[str, DrivingModelFrame] inputs: dict[str, np.ndarray] output: np.ndarray prev_desire: np.ndarray # for tracking the rising edge of the pulse - def __init__(self, context: CLContext): + def __init__(self): ModelStateBase.__init__(self) self.LAT_SMOOTH_SECONDS = LAT_SMOOTH_SECONDS with open(VISION_METADATA_PATH, 'rb') as f: @@ -160,7 +162,6 @@ class ModelState(ModelStateBase): self.policy_output_slices = policy_metadata['output_slices'] policy_output_size = policy_metadata['output_shapes']['outputs'][1] - self.frames = {name: DrivingModelFrame(context, ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ) for name in self.vision_input_names} self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) # policy inputs @@ -170,18 +171,20 @@ class ModelState(ModelStateBase): self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape}) self.full_input_queues.reset() - # img buffers are managed in openCL transform code - self.vision_inputs: dict[str, Tensor] = {} + self.img_queues = {'img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(), + 'big_img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize()} + self.full_frames : dict[str, Tensor] = {} + self._blob_cache : dict[int, Tensor] = {} + self.transforms_np = {k: np.zeros((3,3), dtype=np.float32) for k in self.img_queues} + self.transforms = {k: Tensor(v, device='NPY').realize() for k, v in self.transforms_np.items()} self.vision_output = np.zeros(vision_output_size, dtype=np.float32) self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()} self.policy_output = np.zeros(policy_output_size, dtype=np.float32) self.parser = Parser() - - with open(VISION_PKL_PATH, "rb") as f: - self.vision_run = pickle.load(f) - - with open(POLICY_PKL_PATH, "rb") as f: - self.policy_run = pickle.load(f) + self.frame_buf_params : dict[str, tuple[int, int, int, int]] = {} + self.update_imgs = None + self.vision_run = pickle.loads(read_file_chunked(str(VISION_PKL_PATH))) + self.policy_run = pickle.loads(read_file_chunked(str(POLICY_PKL_PATH))) def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]: parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()} @@ -193,23 +196,34 @@ class ModelState(ModelStateBase): inputs['desire_pulse'][0] = 0 new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0) self.prev_desire[:] = inputs['desire_pulse'] + if self.update_imgs is None: + for key in bufs.keys(): + w, h = bufs[key].width, bufs[key].height + self.frame_buf_params[key] = get_nv12_info(w, h) + warp_path = MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl' + with open(warp_path, "rb") as f: + self.update_imgs = pickle.load(f) - imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names} + for key in bufs.keys(): + ptr = bufs[key].data.ctypes.data + yuv_size = self.frame_buf_params[key][3] + # There is a ringbuffer of imgs, just cache tensors pointing to all of them + cache_key = (key, ptr) + if cache_key not in self._blob_cache: + self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8') + self.full_frames[key] = self._blob_cache[cache_key] + for key in bufs.keys(): + self.transforms_np[key][:,:] = transforms[key][:,:] - if TICI and not USBGPU: - # The imgs tensors are backed by opencl memory, only need init once - for key in imgs_cl: - if key not in self.vision_inputs: - self.vision_inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.vision_input_shapes[key], dtype=dtypes.uint8) - else: - for key in imgs_cl: - frame_input = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.vision_input_shapes[key]) - self.vision_inputs[key] = Tensor(frame_input, dtype=dtypes.uint8).realize() + out = self.update_imgs(self.img_queues['img'], self.full_frames['img'], self.transforms['img'], + self.img_queues['big_img'], self.full_frames['big_img'], self.transforms['big_img']) + self.img_queues['img'], self.img_queues['big_img'] = out[0].realize(), out[2].realize() + vision_inputs = {'img': out[1], 'big_img': out[3]} if prepare_only: return None - self.vision_output = self.vision_run(**self.vision_inputs).contiguous().realize().uop.base.buffer.numpy() + self.vision_output = self.vision_run(**vision_inputs).contiguous().realize().uop.base.buffer.numpy().flatten() vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices)) self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire}) @@ -217,9 +231,8 @@ class ModelState(ModelStateBase): self.numpy_inputs[k][:] = self.full_input_queues.get(k)[k] self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention'] - self.policy_output = self.policy_run(**self.policy_inputs).numpy().flatten() + self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy().flatten() policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices)) - combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict} if SEND_RAW_PRED: combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()]) @@ -236,10 +249,8 @@ def main(demo=False): config_realtime_process(7, 54) st = time.monotonic() - cloudlog.warning("setting up CL context") - cl_context = CLContext() - cloudlog.warning("CL context ready; loading model") - model = ModelState(cl_context) + cloudlog.warning("loading model") + model = ModelState() cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting") # visionipc clients @@ -252,8 +263,8 @@ def main(demo=False): time.sleep(.1) vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD - vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context) - vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context) + vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True) + vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False) cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}") while not vipc_client_main.connect(False): diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc deleted file mode 100644 index d3341e76e..000000000 --- a/selfdrive/modeld/models/commonmodel.cc +++ /dev/null @@ -1,64 +0,0 @@ -#include "selfdrive/modeld/models/commonmodel.h" - -#include -#include - -#include "common/clutil.h" - -DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip) : ModelFrame(device_id, context) { - input_frames = std::make_unique(buf_size); - temporal_skip = _temporal_skip; - input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err)); - img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (temporal_skip+1)*frame_size_bytes, NULL, &err)); - region.origin = temporal_skip * frame_size_bytes; - region.size = frame_size_bytes; - last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, ®ion, &err)); - - loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT); - init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT); -} - -cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { - run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection); - - for (int i = 0; i < temporal_skip; i++) { - CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr)); - } - loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl); - - copy_queue(&loadyuv, q, img_buffer_20hz_cl, input_frames_cl, 0, 0, frame_size_bytes); - copy_queue(&loadyuv, q, last_img_cl, input_frames_cl, 0, frame_size_bytes, frame_size_bytes); - - // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready. - clFinish(q); - return &input_frames_cl; -} - -DrivingModelFrame::~DrivingModelFrame() { - deinit_transform(); - loadyuv_destroy(&loadyuv); - CL_CHECK(clReleaseMemObject(input_frames_cl)); - CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl)); - CL_CHECK(clReleaseMemObject(last_img_cl)); - CL_CHECK(clReleaseCommandQueue(q)); -} - - -MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) { - input_frames = std::make_unique(buf_size); - input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err)); - - init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT); -} - -cl_mem* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { - run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection); - clFinish(q); - return &y_cl; -} - -MonitoringModelFrame::~MonitoringModelFrame() { - deinit_transform(); - CL_CHECK(clReleaseMemObject(input_frame_cl)); - CL_CHECK(clReleaseCommandQueue(q)); -} diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h deleted file mode 100644 index 176d7eb6d..000000000 --- a/selfdrive/modeld/models/commonmodel.h +++ /dev/null @@ -1,97 +0,0 @@ -#pragma once - -#include -#include -#include - -#include - -#define CL_USE_DEPRECATED_OPENCL_1_2_APIS -#ifdef __APPLE__ -#include -#else -#include -#endif - -#include "common/mat.h" -#include "selfdrive/modeld/transforms/loadyuv.h" -#include "selfdrive/modeld/transforms/transform.h" - -class ModelFrame { -public: - ModelFrame(cl_device_id device_id, cl_context context) { - q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err)); - } - virtual ~ModelFrame() {} - virtual cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { return NULL; } - uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) { - CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr)); - clFinish(q); - return &input_frames[0]; - } - - int MODEL_WIDTH; - int MODEL_HEIGHT; - int MODEL_FRAME_SIZE; - int buf_size; - -protected: - cl_mem y_cl, u_cl, v_cl; - Transform transform; - cl_command_queue q; - std::unique_ptr input_frames; - - void init_transform(cl_device_id device_id, cl_context context, int model_width, int model_height) { - y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, model_width * model_height, NULL, &err)); - u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err)); - v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err)); - transform_init(&transform, context, device_id); - } - - void deinit_transform() { - transform_destroy(&transform); - CL_CHECK(clReleaseMemObject(v_cl)); - CL_CHECK(clReleaseMemObject(u_cl)); - CL_CHECK(clReleaseMemObject(y_cl)); - } - - void run_transform(cl_mem yuv_cl, int model_width, int model_height, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { - transform_queue(&transform, q, - yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset, - y_cl, u_cl, v_cl, model_width, model_height, projection); - } -}; - -class DrivingModelFrame : public ModelFrame { -public: - DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip); - ~DrivingModelFrame(); - cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection); - - const int MODEL_WIDTH = 512; - const int MODEL_HEIGHT = 256; - const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2; - const int buf_size = MODEL_FRAME_SIZE * 2; // 2 frames are temporal_skip frames apart - const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t); - -private: - LoadYUVState loadyuv; - cl_mem img_buffer_20hz_cl, last_img_cl, input_frames_cl; - cl_buffer_region region; - int temporal_skip; -}; - -class MonitoringModelFrame : public ModelFrame { -public: - MonitoringModelFrame(cl_device_id device_id, cl_context context); - ~MonitoringModelFrame(); - cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection); - - const int MODEL_WIDTH = 1440; - const int MODEL_HEIGHT = 960; - const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT; - const int buf_size = MODEL_FRAME_SIZE; - -private: - cl_mem input_frame_cl; -}; diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd deleted file mode 100644 index 4ac64d917..000000000 --- a/selfdrive/modeld/models/commonmodel.pxd +++ /dev/null @@ -1,27 +0,0 @@ -# distutils: language = c++ - -from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem - -cdef extern from "common/mat.h": - cdef struct mat3: - float v[9] - -cdef extern from "common/clutil.h": - cdef unsigned long CL_DEVICE_TYPE_DEFAULT - cl_device_id cl_get_device_id(unsigned long) - cl_context cl_create_context(cl_device_id) - void cl_release_context(cl_context) - -cdef extern from "selfdrive/modeld/models/commonmodel.h": - cppclass ModelFrame: - int buf_size - unsigned char * buffer_from_cl(cl_mem*, int); - cl_mem * prepare(cl_mem, int, int, int, int, mat3) - - cppclass DrivingModelFrame: - int buf_size - DrivingModelFrame(cl_device_id, cl_context, int) - - cppclass MonitoringModelFrame: - int buf_size - MonitoringModelFrame(cl_device_id, cl_context) diff --git a/selfdrive/modeld/models/commonmodel_pyx.pxd b/selfdrive/modeld/models/commonmodel_pyx.pxd deleted file mode 100644 index 0bb798625..000000000 --- a/selfdrive/modeld/models/commonmodel_pyx.pxd +++ /dev/null @@ -1,13 +0,0 @@ -# distutils: language = c++ - -from msgq.visionipc.visionipc cimport cl_mem -from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext - -cdef class CLContext(BaseCLContext): - pass - -cdef class CLMem: - cdef cl_mem * mem - - @staticmethod - cdef create(void*) diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx deleted file mode 100644 index 5b7d11bc7..000000000 --- a/selfdrive/modeld/models/commonmodel_pyx.pyx +++ /dev/null @@ -1,74 +0,0 @@ -# distutils: language = c++ -# cython: c_string_encoding=ascii, language_level=3 - -import numpy as np -cimport numpy as cnp -from libc.string cimport memcpy -from libc.stdint cimport uintptr_t - -from msgq.visionipc.visionipc cimport cl_mem -from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext -from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context, cl_release_context -from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame - - -cdef class CLContext(BaseCLContext): - def __cinit__(self): - self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT) - self.context = cl_create_context(self.device_id) - - def __dealloc__(self): - if self.context: - cl_release_context(self.context) - -cdef class CLMem: - @staticmethod - cdef create(void * cmem): - mem = CLMem() - mem.mem = cmem - return mem - - @property - def mem_address(self): - return (self.mem) - -def cl_from_visionbuf(VisionBuf buf): - return CLMem.create(&buf.buf.buf_cl) - - -cdef class ModelFrame: - cdef cppModelFrame * frame - cdef int buf_size - - def __dealloc__(self): - del self.frame - - def prepare(self, VisionBuf buf, float[:] projection): - cdef mat3 cprojection - memcpy(cprojection.v, &projection[0], 9*sizeof(float)) - cdef cl_mem * data - data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection) - return CLMem.create(data) - - def buffer_from_cl(self, CLMem in_frames): - cdef unsigned char * data2 - data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size) - return np.asarray( data2) - - -cdef class DrivingModelFrame(ModelFrame): - cdef cppDrivingModelFrame * _frame - - def __cinit__(self, CLContext context, int temporal_skip): - self._frame = new cppDrivingModelFrame(context.device_id, context.context, temporal_skip) - self.frame = (self._frame) - self.buf_size = self._frame.buf_size - -cdef class MonitoringModelFrame(ModelFrame): - cdef cppMonitoringModelFrame * _frame - - def __cinit__(self, CLContext context): - self._frame = new cppMonitoringModelFrame(context.device_id, context.context) - self.frame = (self._frame) - self.buf_size = self._frame.buf_size - diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx index 9b1c4a183..24234d4c5 100644 --- a/selfdrive/modeld/models/dmonitoring_model.onnx +++ b/selfdrive/modeld/models/dmonitoring_model.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3446bf8b22e50e47669a25bf32460ae8baf8547037f346753e19ecbfcf6d4e59 -size 6954368 +oid sha256:5e8de9dc7df306700cce9c22b992e25b95a38f894c47adaea742a9cf8ba78e1a +size 7307246 diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 038f51ca9..5c11e8ca1 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -113,6 +113,8 @@ class Parser: plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH) plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0) self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH)) + if 'planplus' in outs: + self.parse_mdn('planplus', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH)) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) return outs diff --git a/selfdrive/modeld/runners/tinygrad_helpers.py b/selfdrive/modeld/runners/tinygrad_helpers.py deleted file mode 100644 index 776381341..000000000 --- a/selfdrive/modeld/runners/tinygrad_helpers.py +++ /dev/null @@ -1,8 +0,0 @@ - -from tinygrad.tensor import Tensor -from tinygrad.helpers import to_mv - -def qcom_tensor_from_opencl_address(opencl_address, shape, dtype): - cl_buf_desc_ptr = to_mv(opencl_address, 8).cast('Q')[0] - rawbuf_ptr = to_mv(cl_buf_desc_ptr, 0x100).cast('Q')[20] # offset 0xA0 is a raw gpu pointer. - return Tensor.from_blob(rawbuf_ptr, shape, dtype=dtype, device='QCOM') diff --git a/selfdrive/modeld/transforms/loadyuv.cc b/selfdrive/modeld/transforms/loadyuv.cc deleted file mode 100644 index c93f5cd03..000000000 --- a/selfdrive/modeld/transforms/loadyuv.cc +++ /dev/null @@ -1,76 +0,0 @@ -#include "selfdrive/modeld/transforms/loadyuv.h" - -#include -#include -#include - -void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) { - memset(s, 0, sizeof(*s)); - - s->width = width; - s->height = height; - - char args[1024]; - snprintf(args, sizeof(args), - "-cl-fast-relaxed-math -cl-denorms-are-zero " - "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d", - width, height); - cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args); - - s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err)); - s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err)); - s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err)); - - // done with this - CL_CHECK(clReleaseProgram(prg)); -} - -void loadyuv_destroy(LoadYUVState* s) { - CL_CHECK(clReleaseKernel(s->loadys_krnl)); - CL_CHECK(clReleaseKernel(s->loaduv_krnl)); - CL_CHECK(clReleaseKernel(s->copy_krnl)); -} - -void loadyuv_queue(LoadYUVState* s, cl_command_queue q, - cl_mem y_cl, cl_mem u_cl, cl_mem v_cl, - cl_mem out_cl) { - cl_int global_out_off = 0; - - CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl)); - CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl)); - CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off)); - - const size_t loadys_work_size = (s->width*s->height)/8; - CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL, - &loadys_work_size, NULL, 0, 0, NULL)); - - const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8; - global_out_off += (s->width*s->height); - - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl)); - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl)); - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off)); - - CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL, - &loaduv_work_size, NULL, 0, 0, NULL)); - - global_out_off += (s->width/2)*(s->height/2); - - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl)); - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl)); - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off)); - - CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL, - &loaduv_work_size, NULL, 0, 0, NULL)); -} - -void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst, - size_t src_offset, size_t dst_offset, size_t size) { - CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src)); - CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst)); - CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset)); - CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset)); - const size_t copy_work_size = size/8; - CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL, - ©_work_size, NULL, 0, 0, NULL)); -} \ No newline at end of file diff --git a/selfdrive/modeld/transforms/loadyuv.cl b/selfdrive/modeld/transforms/loadyuv.cl deleted file mode 100644 index 970187a6d..000000000 --- a/selfdrive/modeld/transforms/loadyuv.cl +++ /dev/null @@ -1,47 +0,0 @@ -#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2)) - -__kernel void loadys(__global uchar8 const * const Y, - __global uchar * out, - int out_offset) -{ - const int gid = get_global_id(0); - const int ois = gid * 8; - const int oy = ois / TRANSFORMED_WIDTH; - const int ox = ois % TRANSFORMED_WIDTH; - - const uchar8 ys = Y[gid]; - - // 02 - // 13 - - __global uchar* outy0; - __global uchar* outy1; - if ((oy & 1) == 0) { - outy0 = out + out_offset; //y0 - outy1 = out + out_offset + UV_SIZE*2; //y2 - } else { - outy0 = out + out_offset + UV_SIZE; //y1 - outy1 = out + out_offset + UV_SIZE*3; //y3 - } - - vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); - vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); -} - -__kernel void loaduv(__global uchar8 const * const in, - __global uchar8 * out, - int out_offset) -{ - const int gid = get_global_id(0); - const uchar8 inv = in[gid]; - out[gid + out_offset / 8] = inv; -} - -__kernel void copy(__global uchar8 * in, - __global uchar8 * out, - int in_offset, - int out_offset) -{ - const int gid = get_global_id(0); - out[gid + out_offset / 8] = in[gid + in_offset / 8]; -} diff --git a/selfdrive/modeld/transforms/loadyuv.h b/selfdrive/modeld/transforms/loadyuv.h deleted file mode 100644 index 659059cd2..000000000 --- a/selfdrive/modeld/transforms/loadyuv.h +++ /dev/null @@ -1,20 +0,0 @@ -#pragma once - -#include "common/clutil.h" - -typedef struct { - int width, height; - cl_kernel loadys_krnl, loaduv_krnl, copy_krnl; -} LoadYUVState; - -void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height); - -void loadyuv_destroy(LoadYUVState* s); - -void loadyuv_queue(LoadYUVState* s, cl_command_queue q, - cl_mem y_cl, cl_mem u_cl, cl_mem v_cl, - cl_mem out_cl); - - -void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst, - size_t src_offset, size_t dst_offset, size_t size); \ No newline at end of file diff --git a/selfdrive/modeld/transforms/transform.cc b/selfdrive/modeld/transforms/transform.cc deleted file mode 100644 index 305643cf4..000000000 --- a/selfdrive/modeld/transforms/transform.cc +++ /dev/null @@ -1,97 +0,0 @@ -#include "selfdrive/modeld/transforms/transform.h" - -#include -#include - -#include "common/clutil.h" - -void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) { - memset(s, 0, sizeof(*s)); - - cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, ""); - s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err)); - // done with this - CL_CHECK(clReleaseProgram(prg)); - - s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err)); - s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err)); -} - -void transform_destroy(Transform* s) { - CL_CHECK(clReleaseMemObject(s->m_y_cl)); - CL_CHECK(clReleaseMemObject(s->m_uv_cl)); - CL_CHECK(clReleaseKernel(s->krnl)); -} - -void transform_queue(Transform* s, - cl_command_queue q, - cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset, - cl_mem out_y, cl_mem out_u, cl_mem out_v, - int out_width, int out_height, - const mat3& projection) { - const int zero = 0; - - // sampled using pixel center origin - // (because that's how fastcv and opencv does it) - - mat3 projection_y = projection; - - // in and out uv is half the size of y. - mat3 projection_uv = transform_scale_buffer(projection, 0.5); - - CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL)); - CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL)); - - const int in_y_width = in_width; - const int in_y_height = in_height; - const int in_y_px_stride = 1; - const int in_uv_width = in_width/2; - const int in_uv_height = in_height/2; - const int in_uv_px_stride = 2; - const int in_u_offset = in_uv_offset; - const int in_v_offset = in_uv_offset + 1; - - const int out_y_width = out_width; - const int out_y_height = out_height; - const int out_uv_width = out_width/2; - const int out_uv_height = out_height/2; - - CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv)); // src - CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride)); // src_row_stride - CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride)); // src_px_stride - CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero)); // src_offset - CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height)); // src_rows - CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width)); // src_cols - CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y)); // dst - CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width)); // dst_row_stride - CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset - CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height)); // dst_rows - CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width)); // dst_cols - CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl)); // M - - const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height}; - - CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, - (const size_t*)&work_size_y, NULL, 0, 0, NULL)); - - const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height}; - - CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride)); // src_px_stride - CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset)); // src_offset - CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height)); // src_rows - CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width)); // src_cols - CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u)); // dst - CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width)); // dst_row_stride - CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset - CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height)); // dst_rows - CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width)); // dst_cols - CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl)); // M - - CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, - (const size_t*)&work_size_uv, NULL, 0, 0, NULL)); - CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset)); // src_ofset - CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v)); // dst - - CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, - (const size_t*)&work_size_uv, NULL, 0, 0, NULL)); -} diff --git a/selfdrive/modeld/transforms/transform.cl b/selfdrive/modeld/transforms/transform.cl deleted file mode 100644 index 2ca25920c..000000000 --- a/selfdrive/modeld/transforms/transform.cl +++ /dev/null @@ -1,54 +0,0 @@ -#define INTER_BITS 5 -#define INTER_TAB_SIZE (1 << INTER_BITS) -#define INTER_SCALE 1.f / INTER_TAB_SIZE - -#define INTER_REMAP_COEF_BITS 15 -#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS) - -__kernel void warpPerspective(__global const uchar * src, - int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols, - __global uchar * dst, - int dst_row_stride, int dst_offset, int dst_rows, int dst_cols, - __constant float * M) -{ - int dx = get_global_id(0); - int dy = get_global_id(1); - - if (dx < dst_cols && dy < dst_rows) - { - float X0 = M[0] * dx + M[1] * dy + M[2]; - float Y0 = M[3] * dx + M[4] * dy + M[5]; - float W = M[6] * dx + M[7] * dy + M[8]; - W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f; - int X = rint(X0 * W), Y = rint(Y0 * W); - - int sx = convert_short_sat(X >> INTER_BITS); - int sy = convert_short_sat(Y >> INTER_BITS); - - short sx_clamp = clamp(sx, 0, src_cols - 1); - short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1); - short sy_clamp = clamp(sy, 0, src_rows - 1); - short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1); - int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]); - int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]); - int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]); - int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]); - - short ay = (short)(Y & (INTER_TAB_SIZE - 1)); - short ax = (short)(X & (INTER_TAB_SIZE - 1)); - float taby = 1.f/INTER_TAB_SIZE*ay; - float tabx = 1.f/INTER_TAB_SIZE*ax; - - int dst_index = mad24(dy, dst_row_stride, dst_offset + dx); - - int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE ); - int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE ); - int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE ); - int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE ); - - int val = v0 * itab0 + v1 * itab1 + v2 * itab2 + v3 * itab3; - - uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS); - dst[dst_index] = pix; - } -} diff --git a/selfdrive/modeld/transforms/transform.h b/selfdrive/modeld/transforms/transform.h deleted file mode 100644 index 771a7054b..000000000 --- a/selfdrive/modeld/transforms/transform.h +++ /dev/null @@ -1,25 +0,0 @@ -#pragma once - -#define CL_USE_DEPRECATED_OPENCL_1_2_APIS -#ifdef __APPLE__ -#include -#else -#include -#endif - -#include "common/mat.h" - -typedef struct { - cl_kernel krnl; - cl_mem m_y_cl, m_uv_cl; -} Transform; - -void transform_init(Transform* s, cl_context ctx, cl_device_id device_id); - -void transform_destroy(Transform* transform); - -void transform_queue(Transform* s, cl_command_queue q, - cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset, - cl_mem out_y, cl_mem out_u, cl_mem out_v, - int out_width, int out_height, - const mat3& projection); diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py index 4f068c4f5..5e72513e9 100644 --- a/selfdrive/monitoring/helpers.py +++ b/selfdrive/monitoring/helpers.py @@ -35,14 +35,7 @@ class DRIVER_MONITOR_SETTINGS: self._EYE_THRESHOLD = 0.65 self._SG_THRESHOLD = 0.9 self._BLINK_THRESHOLD = 0.865 - - self._PHONE_THRESH = 0.75 if device_type == 'mici' else 0.4 - self._PHONE_THRESH2 = 15.0 - self._PHONE_MAX_OFFSET = 0.06 - self._PHONE_MIN_OFFSET = 0.025 - self._PHONE_DATA_AVG = 0.05 - self._PHONE_DATA_VAR = 3*0.005 - self._PHONE_MAX_COUNT = int(360 / self._DT_DMON) + self._PHONE_THRESH = 0.68 self._POSE_PITCH_THRESHOLD = 0.3133 self._POSE_PITCH_THRESHOLD_SLACK = 0.3237 @@ -152,11 +145,10 @@ class DriverMonitoring: # init driver status wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2) - phone_filter_raw_priors = (self.settings._PHONE_DATA_AVG, self.settings._PHONE_DATA_VAR, 2) self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT) - self.phone = DriverProb(raw_priors=phone_filter_raw_priors, max_trackable=self.settings._PHONE_MAX_COUNT) self.pose = DriverPose(settings=self.settings) self.blink = DriverBlink() + self.phone_prob = 0. self.always_on = always_on self.distracted_types = [] @@ -257,12 +249,7 @@ class DriverMonitoring: if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD: distracted_types.append(DistractedType.DISTRACTED_BLINK) - if self.phone.prob_calibrated: - using_phone = self.phone.prob > max(min(self.phone.prob_offseter.filtered_stat.M, self.settings._PHONE_MAX_OFFSET), self.settings._PHONE_MIN_OFFSET) \ - * self.settings._PHONE_THRESH2 - else: - using_phone = self.phone.prob > self.settings._PHONE_THRESH - if using_phone: + if self.phone_prob > self.settings._PHONE_THRESH: distracted_types.append(DistractedType.DISTRACTED_PHONE) return distracted_types @@ -301,7 +288,7 @@ class DriverMonitoring: * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \ * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) - self.phone.prob = driver_data.phoneProb + self.phone_prob = driver_data.phoneProb self.distracted_types = self._get_distracted_types() self.driver_distracted = (DistractedType.DISTRACTED_PHONE in self.distracted_types @@ -315,11 +302,9 @@ class DriverMonitoring: if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted): self.pose.pitch_offseter.push_and_update(self.pose.pitch) self.pose.yaw_offseter.push_and_update(self.pose.yaw) - self.phone.prob_offseter.push_and_update(self.phone.prob) self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \ self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT - self.phone.prob_calibrated = self.phone.prob_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT if self.face_detected and not self.driver_distracted: if model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD: @@ -425,8 +410,6 @@ class DriverMonitoring: "posePitchValidCount": self.pose.pitch_offseter.filtered_stat.n, "poseYawOffset": self.pose.yaw_offseter.filtered_stat.mean(), "poseYawValidCount": self.pose.yaw_offseter.filtered_stat.n, - "phoneProbOffset": self.phone.prob_offseter.filtered_stat.mean(), - "phoneProbValidCount": self.phone.prob_offseter.filtered_stat.n, "stepChange": self.step_change, "awarenessActive": self.awareness_active, "awarenessPassive": self.awareness_passive, diff --git a/selfdrive/pandad/.gitignore b/selfdrive/pandad/.gitignore index f7226cdb8..cb292405c 100644 --- a/selfdrive/pandad/.gitignore +++ b/selfdrive/pandad/.gitignore @@ -1,3 +1,3 @@ pandad pandad_api_impl.cpp -tests/test_pandad_usbprotocol +tests/test_pandad_canprotocol diff --git a/selfdrive/pandad/SConscript b/selfdrive/pandad/SConscript index 5e0b782c1..fd59db985 100644 --- a/selfdrive/pandad/SConscript +++ b/selfdrive/pandad/SConscript @@ -1,9 +1,10 @@ -Import('env', 'common', 'messaging') +Import('env', 'arch', 'common', 'messaging') -libs = ['usb-1.0', common, messaging, 'pthread'] -panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc']) +if arch != "Darwin": + libs = [common, messaging, 'pthread'] + panda = env.Library('panda', ['panda.cc', 'spi.cc']) -env.Program('pandad', ['main.cc', 'pandad.cc', 'panda_safety.cc'], LIBS=[panda] + libs) + env.Program('pandad', ['main.cc', 'pandad.cc', 'panda_safety.cc'], LIBS=[panda] + libs) -if GetOption('extras'): - env.Program('tests/test_pandad_usbprotocol', ['tests/test_pandad_usbprotocol.cc'], LIBS=[panda] + libs) + if GetOption('extras'): + env.Program('tests/test_pandad_canprotocol', ['tests/test_pandad_canprotocol.cc'], LIBS=[panda] + libs) diff --git a/selfdrive/pandad/main.cc b/selfdrive/pandad/main.cc index b63d884a4..ef30d6037 100644 --- a/selfdrive/pandad/main.cc +++ b/selfdrive/pandad/main.cc @@ -16,7 +16,7 @@ int main(int argc, char *argv[]) { assert(err == 0); } - std::vector serials(argv + 1, argv + argc); - pandad_main_thread(serials); + std::string serial = (argc > 1) ? argv[1] : ""; + pandad_main_thread(serial); return 0; } diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc index 72b8ddcf8..acb472ab5 100644 --- a/selfdrive/pandad/panda.cc +++ b/selfdrive/pandad/panda.cc @@ -12,19 +12,9 @@ const bool PANDAD_MAXOUT = getenv("PANDAD_MAXOUT") != nullptr; -Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) { - // try USB first, then SPI - try { - handle = std::make_unique(serial); - LOGW("connected to %s over USB", serial.c_str()); - } catch (std::exception &e) { -#ifndef __APPLE__ - handle = std::make_unique(serial); - LOGW("connected to %s over SPI", serial.c_str()); -#else - throw e; -#endif - } +Panda::Panda(std::string serial) { + handle = std::make_unique(serial); + LOGW("connected to %s over SPI", serial.c_str()); hw_type = get_hw_type(); can_reset_communications(); @@ -42,20 +32,8 @@ std::string Panda::hw_serial() { return handle->hw_serial; } -std::vector Panda::list(bool usb_only) { - std::vector serials = PandaUsbHandle::list(); - -#ifndef __APPLE__ - if (!usb_only) { - for (const auto &s : PandaSpiHandle::list()) { - if (std::find(serials.begin(), serials.end(), s) == serials.end()) { - serials.push_back(s); - } - } - } -#endif - - return serials; +std::vector Panda::list() { + return PandaSpiHandle::list(); } void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) { @@ -195,7 +173,7 @@ void Panda::pack_can_buffer(const capnp::List::Reader &can_data for (const auto &cmsg : can_data_list) { // check if the message is intended for this panda uint8_t bus = cmsg.getSrc(); - if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_OFFSET)) { + if (bus >= PANDA_BUS_OFFSET) { continue; } auto can_data = cmsg.getDat(); @@ -207,7 +185,7 @@ void Panda::pack_can_buffer(const capnp::List::Reader &can_data header.addr = cmsg.getAddress(); header.extended = (cmsg.getAddress() >= 0x800) ? 1 : 0; header.data_len_code = data_len_code; - header.bus = bus - bus_offset; + header.bus = bus; header.checksum = 0; memcpy(&send_buf[pos], (uint8_t *)&header, sizeof(can_header)); @@ -283,7 +261,7 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector handle; + std::unique_ptr handle; public: - Panda(std::string serial="", uint32_t bus_offset=0); + Panda(std::string serial); cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN; - const uint32_t bus_offset; bool connected(); bool comms_healthy(); std::string hw_serial(); // Static functions - static std::vector list(bool usb_only=false); + static std::vector list(); // Panda functionality cereal::PandaState::PandaType get_hw_type(); @@ -91,7 +90,7 @@ protected: uint8_t receive_buffer[RECV_SIZE + sizeof(can_header) + 64]; uint32_t receive_buffer_size = 0; - Panda(uint32_t bus_offset) : bus_offset(bus_offset) {} + Panda() {} void pack_can_buffer(const capnp::List::Reader &can_data_list, std::function write_func); bool unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector &out_vec); diff --git a/selfdrive/pandad/panda_comms.cc b/selfdrive/pandad/panda_comms.cc deleted file mode 100644 index 8a20f397d..000000000 --- a/selfdrive/pandad/panda_comms.cc +++ /dev/null @@ -1,227 +0,0 @@ -#include "selfdrive/pandad/panda.h" - -#include -#include -#include - -#include "common/swaglog.h" - -static libusb_context *init_usb_ctx() { - libusb_context *context = nullptr; - int err = libusb_init(&context); - if (err != 0) { - LOGE("libusb initialization error"); - return nullptr; - } - -#if LIBUSB_API_VERSION >= 0x01000106 - libusb_set_option(context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO); -#else - libusb_set_debug(context, 3); -#endif - return context; -} - -PandaUsbHandle::PandaUsbHandle(std::string serial) : PandaCommsHandle(serial) { - // init libusb - ssize_t num_devices; - libusb_device **dev_list = NULL; - int err = 0; - ctx = init_usb_ctx(); - if (!ctx) { goto fail; } - - // connect by serial - num_devices = libusb_get_device_list(ctx, &dev_list); - if (num_devices < 0) { goto fail; } - for (size_t i = 0; i < num_devices; ++i) { - libusb_device_descriptor desc; - libusb_get_device_descriptor(dev_list[i], &desc); - if (desc.idVendor == 0x3801 && desc.idProduct == 0xddcc) { - int ret = libusb_open(dev_list[i], &dev_handle); - if (dev_handle == NULL || ret < 0) { goto fail; } - - unsigned char desc_serial[26] = { 0 }; - ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial)); - if (ret < 0) { goto fail; } - - hw_serial = std::string((char *)desc_serial, ret); - if (serial.empty() || serial == hw_serial) { - break; - } - libusb_close(dev_handle); - dev_handle = NULL; - } - } - if (dev_handle == NULL) goto fail; - libusb_free_device_list(dev_list, 1); - dev_list = nullptr; - - if (libusb_kernel_driver_active(dev_handle, 0) == 1) { - libusb_detach_kernel_driver(dev_handle, 0); - } - - err = libusb_set_configuration(dev_handle, 1); - if (err != 0) { goto fail; } - - err = libusb_claim_interface(dev_handle, 0); - if (err != 0) { goto fail; } - - return; - -fail: - if (dev_list != NULL) { - libusb_free_device_list(dev_list, 1); - } - cleanup(); - throw std::runtime_error("Error connecting to panda"); -} - -PandaUsbHandle::~PandaUsbHandle() { - std::lock_guard lk(hw_lock); - cleanup(); - connected = false; -} - -void PandaUsbHandle::cleanup() { - if (dev_handle) { - libusb_release_interface(dev_handle, 0); - libusb_close(dev_handle); - } - - if (ctx) { - libusb_exit(ctx); - } -} - -std::vector PandaUsbHandle::list() { - static std::unique_ptr context(init_usb_ctx(), libusb_exit); - // init libusb - ssize_t num_devices; - libusb_device **dev_list = NULL; - std::vector serials; - if (!context) { return serials; } - - num_devices = libusb_get_device_list(context.get(), &dev_list); - if (num_devices < 0) { - LOGE("libusb can't get device list"); - goto finish; - } - for (size_t i = 0; i < num_devices; ++i) { - libusb_device *device = dev_list[i]; - libusb_device_descriptor desc; - libusb_get_device_descriptor(device, &desc); - if (desc.idVendor == 0x3801 && desc.idProduct == 0xddcc) { - libusb_device_handle *handle = NULL; - int ret = libusb_open(device, &handle); - if (ret < 0) { goto finish; } - - unsigned char desc_serial[26] = { 0 }; - ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, desc_serial, std::size(desc_serial)); - libusb_close(handle); - if (ret < 0) { goto finish; } - - serials.push_back(std::string((char *)desc_serial, ret)); - } - } - -finish: - if (dev_list != NULL) { - libusb_free_device_list(dev_list, 1); - } - return serials; -} - -void PandaUsbHandle::handle_usb_issue(int err, const char func[]) { - LOGE_100("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func); - if (err == LIBUSB_ERROR_NO_DEVICE) { - LOGE("lost connection"); - connected = false; - } - // TODO: check other errors, is simply retrying okay? -} - -int PandaUsbHandle::control_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) { - int err; - const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE; - - if (!connected) { - return LIBUSB_ERROR_NO_DEVICE; - } - - std::lock_guard lk(hw_lock); - do { - err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout); - if (err < 0) handle_usb_issue(err, __func__); - } while (err < 0 && connected); - - return err; -} - -int PandaUsbHandle::control_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout) { - int err; - const uint8_t bmRequestType = LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE; - - if (!connected) { - return LIBUSB_ERROR_NO_DEVICE; - } - - std::lock_guard lk(hw_lock); - do { - err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, data, wLength, timeout); - if (err < 0) handle_usb_issue(err, __func__); - } while (err < 0 && connected); - - return err; -} - -int PandaUsbHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { - int err; - int transferred = 0; - - if (!connected) { - return 0; - } - - std::lock_guard lk(hw_lock); - do { - // Try sending can messages. If the receive buffer on the panda is full it will NAK - // and libusb will try again. After 5ms, it will time out. We will drop the messages. - err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout); - - if (err == LIBUSB_ERROR_TIMEOUT) { - LOGW("Transmit buffer full"); - break; - } else if (err != 0 || length != transferred) { - handle_usb_issue(err, __func__); - } - } while (err != 0 && connected); - - return transferred; -} - -int PandaUsbHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { - int err; - int transferred = 0; - - if (!connected) { - return 0; - } - - std::lock_guard lk(hw_lock); - - do { - err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout); - - if (err == LIBUSB_ERROR_TIMEOUT) { - break; // timeout is okay to exit, recv still happened - } else if (err == LIBUSB_ERROR_OVERFLOW) { - comms_healthy = false; - LOGE_100("overflow got 0x%x", transferred); - } else if (err != 0) { - handle_usb_issue(err, __func__); - } - - } while (err != 0 && connected); - - return transferred; -} diff --git a/selfdrive/pandad/panda_comms.h b/selfdrive/pandad/panda_comms.h index 9c452faf6..cdfb5019b 100644 --- a/selfdrive/pandad/panda_comms.h +++ b/selfdrive/pandad/panda_comms.h @@ -6,67 +6,20 @@ #include #include -#ifndef __APPLE__ -#include -#endif - -#include - #define TIMEOUT 0 #define SPI_BUF_SIZE 2048 -// comms base class -class PandaCommsHandle { +class PandaSpiHandle { public: - PandaCommsHandle(std::string serial) {} - virtual ~PandaCommsHandle() {} - virtual void cleanup() = 0; - std::string hw_serial; std::atomic connected = true; std::atomic comms_healthy = true; - static std::vector list(); - // HW communication - virtual int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT) = 0; - virtual int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT) = 0; - virtual int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0; - virtual int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0; -}; - -class PandaUsbHandle : public PandaCommsHandle { -public: - PandaUsbHandle(std::string serial); - ~PandaUsbHandle(); - int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT); - int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT); - int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); - int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); - void cleanup(); - - static std::vector list(); - -private: - libusb_context *ctx = NULL; - libusb_device_handle *dev_handle = NULL; - std::recursive_mutex hw_lock; - void handle_usb_issue(int err, const char func[]); -}; - -#ifndef __APPLE__ -struct __attribute__((packed)) spi_header { - uint8_t sync; - uint8_t endpoint; - uint16_t tx_len; - uint16_t max_rx_len; -}; - -class PandaSpiHandle : public PandaCommsHandle { -public: PandaSpiHandle(std::string serial); ~PandaSpiHandle(); + int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT); int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT); int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); @@ -81,13 +34,19 @@ private: uint8_t rx_buf[SPI_BUF_SIZE]; inline static std::recursive_mutex hw_lock; + struct __attribute__((packed)) spi_header { + uint8_t sync; + uint8_t endpoint; + uint16_t tx_len; + uint16_t max_rx_len; + }; + int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length); int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout); int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout); int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout); - int lltransfer(spi_ioc_transfer &t); + int lltransfer(struct spi_ioc_transfer &t); spi_header header; uint32_t xfer_count = 0; }; -#endif diff --git a/selfdrive/pandad/panda_safety.cc b/selfdrive/pandad/panda_safety.cc index 29e96032b..8381256f4 100644 --- a/selfdrive/pandad/panda_safety.cc +++ b/selfdrive/pandad/panda_safety.cc @@ -24,19 +24,15 @@ void PandaSafety::updateMultiplexingMode() { // Initialize to ELM327 without OBD multiplexing for initial fingerprinting if (!initialized_) { prev_obd_multiplexing_ = false; - for (int i = 0; i < pandas_.size(); ++i) { - pandas_[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U); - } + panda_->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U); initialized_ = true; } // Switch between multiplexing modes based on the OBD multiplexing request bool obd_multiplexing_requested = params_.getBool("ObdMultiplexingEnabled"); if (obd_multiplexing_requested != prev_obd_multiplexing_) { - for (int i = 0; i < pandas_.size(); ++i) { - const uint16_t safety_param = (i > 0 || !obd_multiplexing_requested) ? 1U : 0U; - pandas_[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param); - } + const uint16_t safety_param = obd_multiplexing_requested ? 0U : 1U; + panda_->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param); prev_obd_multiplexing_ = obd_multiplexing_requested; params_.putBool("ObdMultiplexingChanged", true); } @@ -74,19 +70,12 @@ void PandaSafety::setSafetyMode(const std::vector ¶ms_string) { uint16_t alternative_experience = car_params.getAlternativeExperience(); uint16_t safety_param_sp = car_params_sp.getSafetyParam(); - for (int i = 0; i < pandas_.size(); ++i) { - // Default to SILENT safety model if not specified - cereal::CarParams::SafetyModel safety_model = cereal::CarParams::SafetyModel::SILENT; - uint16_t safety_param = 0U; - if (i < safety_configs.size()) { - safety_model = safety_configs[i].getSafetyModel(); - safety_param = safety_configs[i].getSafetyParam(); - } + cereal::CarParams::SafetyModel safety_model = safety_configs[0].getSafetyModel(); + uint16_t safety_param = safety_configs[0].getSafetyParam(); - LOGW("Panda %d: setting safety model: %d, param: %d, alternative experience: %d, param_sp: %d", i, (int)safety_model, safety_param, alternative_experience, safety_param_sp); - pandas_[i]->set_alternative_experience(alternative_experience, safety_param_sp); - pandas_[i]->set_safety_model(safety_model, safety_param); - } + LOGW("setting safety model: %d, param: %d, alternative experience: %d, param_sp: %d", (int)safety_model, safety_param, alternative_experience, safety_param_sp); + panda_->set_alternative_experience(alternative_experience, safety_param_sp); + panda_->set_safety_model(safety_model, safety_param); } bool PandaSafety::getOffroadMode() { diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc index 5d0ce4ecf..c6aa0135e 100644 --- a/selfdrive/pandad/pandad.cc +++ b/selfdrive/pandad/pandad.cc @@ -1,6 +1,5 @@ #include "selfdrive/pandad/pandad.h" -#include #include #include #include @@ -18,25 +17,6 @@ #include "common/util.h" #include "system/hardware/hw.h" -// -- Multi-panda conventions -- -// Ordering: -// - The internal panda will always be the first panda -// - Consecutive pandas will be sorted based on panda type, and then serial number -// Connecting: -// - If a panda connection is dropped, pandad will reconnect to all pandas -// - If a panda is added, we will only reconnect when we are offroad -// CAN buses: -// - Each panda will have its block of 4 buses. E.g.: the second panda will use -// bus numbers 4, 5, 6 and 7 -// - The internal panda will always be used for accessing the OBD2 port, -// and thus firmware queries -// Safety: -// - SafetyConfig is a list, which is mapped to the connected pandas -// - If there are more pandas connected than there are SafetyConfigs, -// the excess pandas will remain in "silent" or "noOutput" mode -// Ignition: -// - If any of the ignition sources in any panda is high, ignition is high - #define MAX_IR_PANDA_VAL 50 #define CUTOFF_IL 400 #define SATURATE_IL 1000 @@ -45,12 +25,10 @@ ExitHandler do_exit; -bool check_all_connected(const std::vector &pandas) { - for (const auto& panda : pandas) { - if (!panda->connected()) { - do_exit = true; - return false; - } +bool check_connected(Panda *panda) { + if (!panda->connected()) { + do_exit = true; + return false; } return true; } @@ -67,10 +45,10 @@ bool process_mads_heartbeat(SubMaster *sm) { return engaged; } -Panda *connect(std::string serial="", uint32_t index=0) { +Panda *connect(std::string serial) { std::unique_ptr panda; try { - panda = std::make_unique(serial, (index * PANDA_BUS_OFFSET)); + panda = std::make_unique(serial); } catch (std::exception &e) { return nullptr; } @@ -99,7 +77,7 @@ Panda *connect(std::string serial="", uint32_t index=0) { return panda.release(); } -void can_send_thread(std::vector pandas, bool fake_send) { +void can_send_thread(Panda *panda, bool fake_send) { util::set_thread_name("pandad_can_send"); AlignedBuffer aligned_buf; @@ -109,7 +87,7 @@ void can_send_thread(std::vector pandas, bool fake_send) { subscriber->setTimeout(100); // run as fast as messages come in - while (!do_exit && check_all_connected(pandas)) { + while (!do_exit && check_connected(panda)) { std::unique_ptr msg(subscriber->receive()); if (!msg) { continue; @@ -120,25 +98,20 @@ void can_send_thread(std::vector pandas, bool fake_send) { // Don't send if older than 1 second if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) { - for (const auto& panda : pandas) { - LOGT("sending sendcan to panda: %s", (panda->hw_serial()).c_str()); - panda->can_send(event.getSendcan()); - LOGT("sendcan sent to panda: %s", (panda->hw_serial()).c_str()); - } + LOGT("sending sendcan to panda: %s", (panda->hw_serial()).c_str()); + panda->can_send(event.getSendcan()); + LOGT("sendcan sent to panda: %s", (panda->hw_serial()).c_str()); } else { LOGE("sendcan too old to send: %" PRIu64 ", %" PRIu64, nanos_since_boot(), event.getLogMonoTime()); } } } -void can_recv(std::vector &pandas, PubMaster *pm) { +void can_recv(Panda *panda, PubMaster *pm) { static std::vector raw_can_data; { - bool comms_healthy = true; raw_can_data.clear(); - for (const auto& panda : pandas) { - comms_healthy &= panda->can_receive(raw_can_data); - } + bool comms_healthy = panda->can_receive(raw_can_data); MessageBuilder msg; auto evt = msg.initEvent(); @@ -208,102 +181,72 @@ void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const cs.setCanCoreResetCnt(can_health.can_core_reset_cnt); } -std::optional send_panda_states(PubMaster *pm, const std::vector &pandas, bool is_onroad, bool spoofing_started, bool always_offroad) { - bool ignition_local = false; - const uint32_t pandas_cnt = pandas.size(); - +std::optional send_panda_states(PubMaster *pm, Panda *panda, bool is_onroad, bool spoofing_started, bool always_offroad) { // build msg MessageBuilder msg; auto evt = msg.initEvent(); - auto pss = evt.initPandaStates(pandas_cnt); + auto pss = evt.initPandaStates(1); - std::vector pandaStates; - pandaStates.reserve(pandas_cnt); - - std::vector> pandaCanStates; - pandaCanStates.reserve(pandas_cnt); - - const bool red_panda_comma_three = (pandas.size() == 2) && - (pandas[0]->hw_type == cereal::PandaState::PandaType::DOS) && - (pandas[1]->hw_type == cereal::PandaState::PandaType::RED_PANDA); - - for (const auto& panda : pandas){ - auto health_opt = panda->get_state(); - if (!health_opt) { - return std::nullopt; - } - - health_t health = *health_opt; - - std::array can_health{}; - for (uint32_t i = 0; i < PANDA_CAN_CNT; i++) { - auto can_health_opt = panda->get_can_state(i); - if (!can_health_opt) { - return std::nullopt; - } - can_health[i] = *can_health_opt; - } - pandaCanStates.push_back(can_health); - - if (spoofing_started) { - health.ignition_line_pkt = 1; - } - - // on comma three setups with a red panda, the dos can - // get false positive ignitions due to the harness box - // without a harness connector, so ignore it - if (red_panda_comma_three && (panda->hw_type == cereal::PandaState::PandaType::DOS)) { - health.ignition_line_pkt = 0; - } - - ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !always_offroad; - - pandaStates.push_back(health); + auto health_opt = panda->get_state(); + if (!health_opt) { + return std::nullopt; } - for (uint32_t i = 0; i < pandas_cnt; i++) { - auto panda = pandas[i]; - const auto &health = pandaStates[i]; + health_t health = *health_opt; - // Make sure CAN buses are live: safety_setter_thread does not work if Panda CAN are silent and there is only one other CAN node - if (health.safety_mode_pkt == (uint8_t)(cereal::CarParams::SafetyModel::SILENT)) { - panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT); + std::array can_health{}; + for (uint32_t i = 0; i < PANDA_CAN_CNT; i++) { + auto can_health_opt = panda->get_can_state(i); + if (!can_health_opt) { + return std::nullopt; } + can_health[i] = *can_health_opt; + } - bool power_save_desired = !ignition_local; - if (health.power_save_enabled_pkt != power_save_desired) { - panda->set_power_saving(power_save_desired); - } + if (spoofing_started) { + health.ignition_line_pkt = 1; + } - // set safety mode to NO_OUTPUT when car is off or we're not onroad. ELM327 is an alternative if we want to leverage athenad/connect - bool should_close_relay = !ignition_local || !is_onroad; - if (should_close_relay && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) { - panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT); - } + bool ignition_local = ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !always_offroad; - if (!panda->comms_healthy()) { - evt.setValid(false); - } + // Make sure CAN buses are live: safety_setter_thread does not work if Panda CAN are silent and there is only one other CAN node + if (health.safety_mode_pkt == (uint8_t)(cereal::CarParams::SafetyModel::SILENT)) { + panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT); + } - auto ps = pss[i]; - fill_panda_state(ps, panda->hw_type, health); + bool power_save_desired = !ignition_local; + if (health.power_save_enabled_pkt != power_save_desired) { + panda->set_power_saving(power_save_desired); + } - auto cs = std::array{ps.initCanState0(), ps.initCanState1(), ps.initCanState2()}; - for (uint32_t j = 0; j < PANDA_CAN_CNT; j++) { - fill_panda_can_state(cs[j], pandaCanStates[i][j]); - } + // set safety mode to NO_OUTPUT when car is off or we're not onroad. ELM327 is an alternative if we want to leverage athenad/connect + bool should_close_relay = !ignition_local || !is_onroad; + if (should_close_relay && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) { + panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT); + } - // Convert faults bitset to capnp list - std::bitset fault_bits(health.faults_pkt); - auto faults = ps.initFaults(fault_bits.count()); + if (!panda->comms_healthy()) { + evt.setValid(false); + } - size_t j = 0; - for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION); - f <= size_t(cereal::PandaState::FaultType::HEARTBEAT_LOOP_WATCHDOG); f++) { - if (fault_bits.test(f)) { - faults.set(j, cereal::PandaState::FaultType(f)); - j++; - } + auto ps = pss[0]; + fill_panda_state(ps, panda->hw_type, health); + + auto cs = std::array{ps.initCanState0(), ps.initCanState1(), ps.initCanState2()}; + for (uint32_t j = 0; j < PANDA_CAN_CNT; j++) { + fill_panda_can_state(cs[j], can_health[j]); + } + + // Convert faults bitset to capnp list + std::bitset fault_bits(health.faults_pkt); + auto faults = ps.initFaults(fault_bits.count()); + + size_t j = 0; + for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION); + f <= size_t(cereal::PandaState::FaultType::HEARTBEAT_LOOP_WATCHDOG); f++) { + if (fault_bits.test(f)) { + faults.set(j, cereal::PandaState::FaultType(f)); + j++; } } @@ -344,46 +287,22 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) { pm->send("peripheralState", msg); } -void process_panda_state(std::vector &pandas, PubMaster *pm, bool engaged, bool engaged_mads, bool is_onroad, bool spoofing_started, bool always_offroad) { - std::vector connected_serials; - for (Panda *p : pandas) { - connected_serials.push_back(p->hw_serial()); +void process_panda_state(Panda *panda, PubMaster *pm, bool engaged, bool engaged_mads, bool is_onroad, bool spoofing_started, bool always_offroad) { + auto ignition_opt = send_panda_states(pm, panda, is_onroad, spoofing_started, always_offroad); + if (!ignition_opt) { + LOGE("Failed to get ignition_opt"); + return; } - { - auto ignition_opt = send_panda_states(pm, pandas, is_onroad, spoofing_started, always_offroad); - if (!ignition_opt) { - LOGE("Failed to get ignition_opt"); - return; - } - - // check if we should have pandad reconnect - if (!ignition_opt.value()) { - bool comms_healthy = true; - for (const auto &panda : pandas) { - comms_healthy &= panda->comms_healthy(); - } - - if (!comms_healthy) { - LOGE("Reconnecting, communication to pandas not healthy"); - do_exit = true; - - } else { - // check for new pandas - for (std::string &s : Panda::list(true)) { - if (!std::count(connected_serials.begin(), connected_serials.end(), s)) { - LOGW("Reconnecting to new panda: %s", s.c_str()); - do_exit = true; - break; - } - } - } - } - - for (const auto &panda : pandas) { - panda->send_heartbeat(engaged, engaged_mads); + // check if we should have pandad reconnect + if (!ignition_opt.value()) { + if (!panda->comms_healthy()) { + LOGE("Reconnecting, communication to panda not healthy"); + do_exit = true; } } + + panda->send_heartbeat(engaged, engaged_mads); } void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control) { @@ -450,32 +369,31 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control) } } -void pandad_run(std::vector &pandas) { +void pandad_run(Panda *panda) { const bool no_fan_control = getenv("NO_FAN_CONTROL") != nullptr; const bool spoofing_started = getenv("STARTED") != nullptr; const bool fake_send = getenv("FAKESEND") != nullptr; // Start the CAN send thread - std::thread send_thread(can_send_thread, pandas, fake_send); + std::thread send_thread(can_send_thread, panda, fake_send); Params params; RateKeeper rk("pandad", 100); SubMaster sm({"selfdriveState", "selfdriveStateSP", "carParams"}); PubMaster pm({"can", "pandaStates", "peripheralState"}); - PandaSafety panda_safety(pandas); - Panda *peripheral_panda = pandas[0]; + PandaSafety panda_safety(panda); bool engaged = false; bool engaged_mads = false; bool is_onroad = false; bool always_offroad = false; // Main loop: receive CAN data and process states - while (!do_exit && check_all_connected(pandas)) { - can_recv(pandas, &pm); + while (!do_exit && check_connected(panda)) { + can_recv(panda, &pm); // Process peripheral state at 20 Hz if (rk.frame() % 5 == 0) { - process_peripheral_state(peripheral_panda, &pm, no_fan_control); + process_peripheral_state(panda, &pm, no_fan_control); } // Process panda state at 10 Hz @@ -485,25 +403,23 @@ void pandad_run(std::vector &pandas) { engaged_mads = process_mads_heartbeat(&sm); is_onroad = params.getBool("IsOnroad"); always_offroad = panda_safety.getOffroadMode(); - process_panda_state(pandas, &pm, engaged, engaged_mads, is_onroad, spoofing_started, always_offroad); + process_panda_state(panda, &pm, engaged, engaged_mads, is_onroad, spoofing_started, always_offroad); panda_safety.configureSafetyMode(is_onroad); } // Send out peripheralState at 2Hz if (rk.frame() % 50 == 0) { - send_peripheral_state(peripheral_panda, &pm); + send_peripheral_state(panda, &pm); } - // Forward logs from pandas to cloudlog if available - for (auto *panda : pandas) { - std::string log = panda->serial_read(); - if (!log.empty()) { - if (log.find("Register 0x") != std::string::npos) { - // Log register divergent faults as errors - LOGE("%s", log.c_str()); - } else { - LOGD("%s", log.c_str()); - } + // Forward logs from panda to cloudlog if available + std::string log = panda->serial_read(); + if (!log.empty()) { + if (log.find("Register 0x") != std::string::npos) { + // Log register divergent faults as errors + LOGE("%s", log.c_str()); + } else { + LOGD("%s", log.c_str()); } } @@ -512,52 +428,38 @@ void pandad_run(std::vector &pandas) { // Close relay on exit to prevent a fault if (is_onroad && !engaged) { - for (auto &p : pandas) { - if (p->connected()) { - p->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT); - } + if (panda->connected()) { + panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT); } } send_thread.join(); } -void pandad_main_thread(std::vector serials) { - if (serials.size() == 0) { - serials = Panda::list(); +void pandad_main_thread(std::string serial) { + if (serial.empty()) { + auto serials = Panda::list(); - if (serials.size() == 0) { + if (serials.empty()) { LOGW("no pandas found, exiting"); return; } + serial = serials[0]; } - std::string serials_str; - for (int i = 0; i < serials.size(); i++) { - serials_str += serials[i]; - if (i < serials.size() - 1) serials_str += ", "; - } - LOGW("connecting to pandas: %s", serials_str.c_str()); + LOGW("connecting to panda: %s", serial.c_str()); - // connect to all provided serials - std::vector pandas; - for (int i = 0; i < serials.size() && !do_exit; /**/) { - Panda *p = connect(serials[i], i); - if (!p) { - util::sleep_for(100); - continue; - } - - pandas.push_back(p); - ++i; + Panda *panda = nullptr; + while (!do_exit) { + panda = connect(serial); + if (panda) break; + util::sleep_for(100); } if (!do_exit) { - LOGW("connected to all pandas"); - pandad_run(pandas); + LOGW("connected to panda"); + pandad_run(panda); } - for (Panda *panda : pandas) { - delete panda; - } + delete panda; } diff --git a/selfdrive/pandad/pandad.h b/selfdrive/pandad/pandad.h index 954851b61..1558d0469 100644 --- a/selfdrive/pandad/pandad.h +++ b/selfdrive/pandad/pandad.h @@ -1,12 +1,11 @@ #pragma once #include -#include #include "common/params.h" #include "selfdrive/pandad/panda.h" -void pandad_main_thread(std::vector serials); +void pandad_main_thread(std::string serial); // deprecated devices static const std::vector SUPPORTED_PANDA_TYPES = { @@ -18,7 +17,7 @@ static const std::vector SUPPORTED_PANDA_TYPES = class PandaSafety { public: - PandaSafety(const std::vector &pandas) : pandas_(pandas) {} + PandaSafety(Panda *panda) : panda_(panda) {} void configureSafetyMode(bool is_onroad); bool getOffroadMode(); @@ -31,6 +30,6 @@ private: bool log_once_ = false; bool safety_configured_ = false; bool prev_obd_multiplexing_ = false; - std::vector pandas_; + Panda *panda_; Params params_; }; diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py index c9ddfd633..a0bca3f23 100755 --- a/selfdrive/pandad/pandad.py +++ b/selfdrive/pandad/pandad.py @@ -126,55 +126,44 @@ def main() -> None: cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}") - # Flash pandas - pandas: list[Panda] = [] - for serial in panda_serials: - pandas.append(flash_panda(serial)) + # Flash the first panda + panda_serial = panda_serials[0] + panda = flash_panda(panda_serial) # flash Rivian longitudinal upgrade panda - flash_rivian_long(pandas) + flash_rivian_long(panda) # Ensure internal panda is present if expected - internal_pandas = [panda for panda in pandas if panda.is_internal()] - if HARDWARE.has_internal_panda() and len(internal_pandas) == 0: + if HARDWARE.has_internal_panda() and not panda.is_internal(): cloudlog.error("Internal panda is missing, trying again") no_internal_panda_count += 1 continue no_internal_panda_count = 0 - # sort pandas to have deterministic order - # * the internal one is always first - # * then sort by hardware type - # * as a last resort, sort by serial number - pandas.sort(key=lambda x: (not x.is_internal(), x.get_type(), x.get_usb_serial())) - panda_serials = [p.get_usb_serial() for p in pandas] + # log panda fw version + params.put("PandaSignatures", panda.get_signature()) - # log panda fw versions - params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas)) + # skip health check if the detected panda is not supported + supported_panda = check_panda_support(panda) + if not supported_panda: + cloudlog.warning(f"Panda {panda.get_usb_serial()} is not supported (hw_type: {panda.get_type()}), skipping health check...") + continue - for panda in pandas: - # skip health check if the detected panda is not supported - supported_panda = check_panda_support(panda) - if not supported_panda: - cloudlog.warning(f"Panda {panda.get_usb_serial()} is not supported (hw_type: {panda.get_type()}), skipping health check...") - continue + # check health for lost heartbeat + health = panda.health() + if health["heartbeat_lost"]: + params.put_bool("PandaHeartbeatLost", True) + cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial()) + if health["som_reset_triggered"]: + params.put_bool("PandaSomResetTriggered", True) + cloudlog.event("panda.som_reset_triggered", health=health, serial=panda.get_usb_serial()) - # check health for lost heartbeat - health = panda.health() - if health["heartbeat_lost"]: - params.put_bool("PandaHeartbeatLost", True) - cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial()) - if health["som_reset_triggered"]: - params.put_bool("PandaSomResetTriggered", True) - cloudlog.event("panda.som_reset_triggered", health=health, serial=panda.get_usb_serial()) + if first_run: + # reset panda to ensure we're in a good state + cloudlog.info(f"Resetting panda {panda.get_usb_serial()}") + panda.reset(reconnect=True) - if first_run: - # reset panda to ensure we're in a good state - cloudlog.info(f"Resetting panda {panda.get_usb_serial()}") - panda.reset(reconnect=True) - - for p in pandas: - p.close() + panda.close() # TODO: wrap all panda exceptions in a base panda exception except (usb1.USBErrorNoDevice, usb1.USBErrorPipe): # a panda was disconnected while setting everything up. let's try again @@ -191,7 +180,7 @@ def main() -> None: # run pandad with all connected serials as arguments os.environ['MANAGER_DAEMON'] = 'pandad' - process = subprocess.Popen(["./pandad", *panda_serials], cwd=os.path.join(BASEDIR, "selfdrive/pandad")) + process = subprocess.Popen(["./pandad", panda_serial], cwd=os.path.join(BASEDIR, "selfdrive/pandad")) process.wait() diff --git a/selfdrive/pandad/spi.cc b/selfdrive/pandad/spi.cc index b6ee57801..f54c26e50 100644 --- a/selfdrive/pandad/spi.cc +++ b/selfdrive/pandad/spi.cc @@ -1,4 +1,3 @@ -#ifndef __APPLE__ #include #include #include @@ -33,7 +32,7 @@ const std::string SPI_DEVICE = "/dev/spidev0.0"; class LockEx { public: - LockEx(int fd, std::recursive_mutex &m) : fd(fd), m(m) { + LockEx(int fd_, std::recursive_mutex &m_) : fd(fd_), m(m_) { m.lock(); flock(fd, LOCK_EX); } @@ -55,7 +54,7 @@ private: util::hexdump(tx_buf, std::min((int)header.tx_len, 8)).c_str()); \ } while (0) -PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) { +PandaSpiHandle::PandaSpiHandle(std::string serial) { int ret; const int uid_len = 12; uint8_t uid[uid_len] = {0}; @@ -407,4 +406,3 @@ fail: if (ret >= 0) ret = -1; return ret; } -#endif diff --git a/selfdrive/pandad/tests/test_pandad_usbprotocol.cc b/selfdrive/pandad/tests/test_pandad_canprotocol.cc similarity index 87% rename from selfdrive/pandad/tests/test_pandad_usbprotocol.cc rename to selfdrive/pandad/tests/test_pandad_canprotocol.cc index 11f7184ef..8499a1aab 100644 --- a/selfdrive/pandad/tests/test_pandad_usbprotocol.cc +++ b/selfdrive/pandad/tests/test_pandad_canprotocol.cc @@ -1,13 +1,15 @@ #define CATCH_CONFIG_MAIN #define CATCH_CONFIG_ENABLE_BENCHMARKING +#include + #include "catch2/catch.hpp" #include "cereal/messaging/messaging.h" #include "common/util.h" #include "selfdrive/pandad/panda.h" struct PandaTest : public Panda { - PandaTest(uint32_t bus_offset, int can_list_size, cereal::PandaState::PandaType hw_type); + PandaTest(int can_list_size, cereal::PandaState::PandaType hw_type); void test_can_send(); void test_can_recv(uint32_t chunk_size = 0); void test_chunked_can_recv(); @@ -19,8 +21,8 @@ struct PandaTest : public Panda { capnp::List::Reader can_data_list; }; -PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState::PandaType hw_type) : can_list_size(can_list_size), Panda(bus_offset_) { - this->hw_type = hw_type; +PandaTest::PandaTest(int can_list_size_, cereal::PandaState::PandaType hw_type_) : can_list_size(can_list_size_), Panda() { + this->hw_type = hw_type_; int data_limit = ((hw_type == cereal::PandaState::PandaType::RED_PANDA) ? std::size(dlc_to_len) : 8); // prepare test data for (int i = 0; i < data_limit; ++i) { @@ -40,7 +42,7 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState uint32_t id = util::random_int(0, std::size(dlc_to_len) - 1); const std::string &dat = test_data[dlc_to_len[id]]; can.setAddress(i); - can.setSrc(util::random_int(0, 2) + bus_offset); + can.setSrc(util::random_int(0, 2)); can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size())); total_pakets_size += sizeof(can_header) + dat.size(); } @@ -103,9 +105,8 @@ void PandaTest::test_can_recv(uint32_t rx_chunk_size) { } TEST_CASE("send/recv CAN 2.0 packets") { - auto bus_offset = GENERATE(0, 4); auto can_list_size = GENERATE(1, 3, 5, 10, 30, 60, 100, 200); - PandaTest test(bus_offset, can_list_size, cereal::PandaState::PandaType::DOS); + PandaTest test(can_list_size, cereal::PandaState::PandaType::DOS); SECTION("can_send") { test.test_can_send(); @@ -119,9 +120,8 @@ TEST_CASE("send/recv CAN 2.0 packets") { } TEST_CASE("send/recv CAN FD packets") { - auto bus_offset = GENERATE(0, 4); auto can_list_size = GENERATE(1, 3, 5, 10, 30, 60, 100, 200); - PandaTest test(bus_offset, can_list_size, cereal::PandaState::PandaType::RED_PANDA); + PandaTest test(can_list_size, cereal::PandaState::PandaType::RED_PANDA); SECTION("can_send") { test.test_can_send(); diff --git a/selfdrive/pandad/tests/test_pandad_loopback.py b/selfdrive/pandad/tests/test_pandad_loopback.py index eff70d254..fd4a99be6 100644 --- a/selfdrive/pandad/tests/test_pandad_loopback.py +++ b/selfdrive/pandad/tests/test_pandad_loopback.py @@ -13,12 +13,11 @@ from openpilot.common.utils import retry from openpilot.common.params import Params from openpilot.common.timeout import Timeout from openpilot.selfdrive.pandad import can_list_to_can_capnp -from openpilot.system.hardware import TICI from openpilot.selfdrive.test.helpers import with_processes @retry(attempts=3) -def setup_pandad(num_pandas): +def setup_pandad(): params = Params() params.clear_all() params.put_bool("IsOnroad", False) @@ -29,16 +28,12 @@ def setup_pandad(num_pandas): any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']): sm.update(1000) - found_pandas = len(sm['pandaStates']) - assert num_pandas == found_pandas, "connected pandas ({found_pandas}) doesn't match expected panda count ({num_pandas}). \ - connect another panda for multipanda tests." - # pandad safety setting relies on these params cp = car.CarParams.new_message() safety_config = car.CarParams.SafetyConfig.new_message() safety_config.safetyModel = car.CarParams.SafetyModel.allOutput - cp.safetyConfigs = [safety_config]*num_pandas + cp.safetyConfigs = [safety_config] params.put_bool("IsOnroad", True) params.put_bool("FirmwareQueryDone", True) @@ -49,12 +44,12 @@ def setup_pandad(num_pandas): while any(ps.safetyModel != car.CarParams.SafetyModel.allOutput for ps in sm['pandaStates']): sm.update(1000) -def send_random_can_messages(sendcan, count, num_pandas=1): +def send_random_can_messages(sendcan, count): sent_msgs = defaultdict(set) for _ in range(count): to_send = [] for __ in range(random.randrange(20)): - bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3]) + bus = random.choice(range(3)) addr = random.randrange(1, 1<<29) dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9))) if (addr, dat) in sent_msgs[bus]: @@ -74,8 +69,7 @@ class TestBoarddLoopback: @with_processes(['pandad']) def test_loopback(self): - num_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1 - setup_pandad(num_pandas) + setup_pandad() sendcan = messaging.pub_sock('sendcan') can = messaging.sub_sock('can', conflate=False, timeout=100) @@ -86,7 +80,7 @@ class TestBoarddLoopback: for i in range(n): print(f"pandad loopback {i}/{n}") - sent_msgs = send_random_can_messages(sendcan, random.randrange(20, 100), num_pandas) + sent_msgs = send_random_can_messages(sendcan, random.randrange(20, 100)) sent_loopback = copy.deepcopy(sent_msgs) sent_loopback.update({k+128: copy.deepcopy(v) for k, v in sent_msgs.items()}) diff --git a/selfdrive/pandad/tests/test_pandad_spi.py b/selfdrive/pandad/tests/test_pandad_spi.py index da4b18199..69dfb67e9 100644 --- a/selfdrive/pandad/tests/test_pandad_spi.py +++ b/selfdrive/pandad/tests/test_pandad_spi.py @@ -22,7 +22,7 @@ class TestBoarddSpi: @with_processes(['pandad']) def test_spi_corruption(self, subtests): - setup_pandad(1) + setup_pandad() sendcan = messaging.pub_sock('sendcan') socks = {s: messaging.sub_sock(s, conflate=False, timeout=100) for s in ('can', 'pandaStates', 'peripheralState')} diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index 62f4553bf..3e20a2802 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -933,7 +933,7 @@ if __name__ == '__main__': for i, alerts in EVENTS.items(): for et, alert in alerts.items(): - if callable(alert): + if not isinstance(alert, Alert): alert = alert(CP, CS, sm, False, 1, log.LongitudinalPersonality.standard) alerts_by_type[et][alert.priority].append(event_names[i]) diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh index 4d58a1507..8d1fa8224 100755 --- a/selfdrive/test/docker_build.sh +++ b/selfdrive/test/docker_build.sh @@ -1,12 +1,14 @@ #!/usr/bin/env bash set -e -# To build sim and docs, you can run the following to mount the scons cache to the same place as in CI: -# mkdir -p .ci_cache/scons_cache -# sudo mount --bind /tmp/scons_cache/ .ci_cache/scons_cache - SCRIPT_DIR=$(dirname "$0") OPENPILOT_DIR=$SCRIPT_DIR/../../ + +DOCKER_IMAGE=openpilot +DOCKER_FILE=Dockerfile.openpilot +DOCKER_REGISTRY=ghcr.io/commaai +COMMIT_SHA=$(git rev-parse HEAD) + if [ -n "$TARGET_ARCHITECTURE" ]; then PLATFORM="linux/$TARGET_ARCHITECTURE" TAG_SUFFIX="-$TARGET_ARCHITECTURE" @@ -15,9 +17,11 @@ else TAG_SUFFIX="" fi -source $SCRIPT_DIR/docker_common.sh $1 "$TAG_SUFFIX" +LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX +REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG +REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA -DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR +DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR if [ -n "$PUSH_IMAGE" ]; then docker push $REMOTE_TAG diff --git a/selfdrive/test/docker_common.sh b/selfdrive/test/docker_common.sh deleted file mode 100644 index 2887fff74..000000000 --- a/selfdrive/test/docker_common.sh +++ /dev/null @@ -1,18 +0,0 @@ -if [ "$1" = "base" ]; then - export DOCKER_IMAGE=openpilot-base - export DOCKER_FILE=Dockerfile.openpilot_base -elif [ "$1" = "prebuilt" ]; then - export DOCKER_IMAGE=openpilot-prebuilt - export DOCKER_FILE=Dockerfile.openpilot -else - echo "Invalid docker build image: '$1'" - exit 1 -fi - -export DOCKER_REGISTRY=ghcr.io/commaai -export COMMIT_SHA=$(git rev-parse HEAD) - -TAG_SUFFIX=$2 -LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX -REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG -REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index 81635aa31..5dfc1c3ec 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -37,6 +37,43 @@ def release_only(f): return wrap +def collect_logs(services, duration): + socks = [messaging.sub_sock(s, conflate=False, timeout=100) for s in services] + logs = [] + start = time.monotonic() + while time.monotonic() - start < duration: + for s in socks: + logs.extend(messaging.drain_sock(s)) + return logs + + +@contextlib.contextmanager +def log_collector(services): + """Background thread that continuously drains messages from services. + Use when the main thread needs to do blocking work (e.g. capturing images).""" + socks = [messaging.sub_sock(s, conflate=False, timeout=100) for s in services] + raw_logs = [] + lock = threading.Lock() + stop_event = threading.Event() + + def _drain(): + while not stop_event.is_set(): + for s in socks: + msgs = messaging.drain_sock(s) + if msgs: + with lock: + raw_logs.extend(msgs) + time.sleep(0.01) + + thread = threading.Thread(target=_drain, daemon=True) + thread.start() + try: + yield raw_logs, lock + finally: + stop_event.set() + thread.join(timeout=2) + + @contextlib.contextmanager def processes_context(processes, init_time=0, ignore_stopped=None): ignore_stopped = [] if ignore_stopped is None else ignore_stopped diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py index ab1800b4f..90bc46b18 100644 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -1,5 +1,5 @@ import itertools -from parameterized import parameterized_class +from openpilot.common.parameterized import parameterized_class from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py index 13d51a636..e2d912a83 100755 --- a/selfdrive/test/process_replay/compare_logs.py +++ b/selfdrive/test/process_replay/compare_logs.py @@ -3,13 +3,16 @@ import sys import math import capnp import numbers -import dictdiffer from collections import Counter from openpilot.tools.lib.logreader import LogReader EPSILON = sys.float_info.epsilon +_DynamicStructReader = capnp.lib.capnp._DynamicStructReader +_DynamicListReader = capnp.lib.capnp._DynamicListReader +_DynamicEnum = capnp.lib.capnp._DynamicEnum + def remove_ignored_fields(msg, ignore): msg = msg.as_builder() @@ -39,6 +42,61 @@ def remove_ignored_fields(msg, ignore): return msg +def _diff_capnp(r1, r2, path, tolerance): + """Walk two capnp struct readers and yield (action, dotted_path, value) diffs. + + Floats are compared with the given tolerance (combined absolute+relative). + """ + schema = r1.schema + + for fname in schema.non_union_fields: + child_path = path + (fname,) + v1 = getattr(r1, fname) + v2 = getattr(r2, fname) + yield from _diff_capnp_values(v1, v2, child_path, tolerance) + + if schema.union_fields: + w1, w2 = r1.which(), r2.which() + if w1 != w2: + yield 'change', '.'.join(path), (w1, w2) + else: + child_path = path + (w1,) + v1, v2 = getattr(r1, w1), getattr(r2, w2) + yield from _diff_capnp_values(v1, v2, child_path, tolerance) + + +def _diff_capnp_values(v1, v2, path, tolerance): + if isinstance(v1, _DynamicStructReader): + yield from _diff_capnp(v1, v2, path, tolerance) + + elif isinstance(v1, _DynamicListReader): + dot = '.'.join(path) + n1, n2 = len(v1), len(v2) + n = min(n1, n2) + for i in range(n): + yield from _diff_capnp_values(v1[i], v2[i], path + (str(i),), tolerance) + if n2 > n: + yield 'add', dot, list(enumerate(v2[n:], n)) + if n1 > n: + yield 'remove', dot, list(reversed([(i, v1[i]) for i in range(n, n1)])) + + elif isinstance(v1, _DynamicEnum): + s1, s2 = str(v1), str(v2) + if s1 != s2: + yield 'change', '.'.join(path), (s1, s2) + + elif isinstance(v1, float): + if not (v1 == v2 or ( + math.isfinite(v1) and math.isfinite(v2) and + abs(v1 - v2) <= max(tolerance, tolerance * max(abs(v1), abs(v2))) + )): + yield 'change', '.'.join(path), (v1, v2) + + else: + if v1 != v2: + yield 'change', '.'.join(path), (v1, v2) + + def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=None,): if ignore_fields is None: ignore_fields = [] @@ -65,26 +123,7 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non msg2 = remove_ignored_fields(msg2, ignore_fields) if msg1.to_bytes() != msg2.to_bytes(): - msg1_dict = msg1.as_reader().to_dict(verbose=True) - msg2_dict = msg2.as_reader().to_dict(verbose=True) - - dd = dictdiffer.diff(msg1_dict, msg2_dict, ignore=ignore_fields) - - # Dictdiffer only supports relative tolerance, we also want to check for absolute - # TODO: add this to dictdiffer - def outside_tolerance(diff): - try: - if diff[0] == "change": - a, b = diff[2] - finite = math.isfinite(a) and math.isfinite(b) - if finite and isinstance(a, numbers.Number) and isinstance(b, numbers.Number): - return abs(a - b) > max(tolerance, tolerance * max(abs(a), abs(b))) - except TypeError: - pass - return True - - dd = list(filter(outside_tolerance, dd)) - + dd = list(_diff_capnp(msg1.as_reader(), msg2.as_reader(), (), tolerance)) diff.extend(dd) return diff diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index d35474f37..a6ccaa104 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -34,8 +34,8 @@ GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN) EXEC_TIMINGS = [ # model, instant max, average max - ("modelV2", 0.035, 0.025), - ("driverStateV2", 0.02, 0.015), + ("modelV2", 0.05, 0.028), + ("driverStateV2", 0.05, 0.016), ] def get_log_fn(test_route, ref="master"): diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 1e59ee7af..c2d0bbc92 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -4,6 +4,7 @@ import time import copy import heapq import signal +import numpy as np from collections import Counter from dataclasses import dataclass, field from itertools import islice @@ -23,8 +24,9 @@ from openpilot.common.params import Params from openpilot.common.prefix import OpenpilotPrefix from openpilot.common.timeout import Timeout from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.car.card import convert_to_capnp +from openpilot.system.camerad.cameras.nv12_info import get_nv12_info from openpilot.system.manager.process_config import managed_processes +from openpilot.selfdrive.car.card import convert_to_capnp from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams from openpilot.selfdrive.test.process_replay.migration import migrate_all from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture @@ -204,7 +206,8 @@ class ProcessContainer: if meta.camera_state in self.cfg.vision_pubs: assert frs[meta.camera_state].pix_fmt == 'nv12' frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h) - vipc_server.create_buffers(meta.stream, 2, *frame_size) + stride, y_height, _, yuv_size = get_nv12_info(frame_size[0], frame_size[1]) + vipc_server.create_buffers_with_sizes(meta.stream, 2, frame_size[0], frame_size[1], yuv_size, stride, stride * y_height) vipc_server.start_listener() self.vipc_server = vipc_server @@ -301,7 +304,17 @@ class ProcessContainer: camera_meta = meta_from_camera_state(m.which()) assert frs is not None img = frs[m.which()].get(camera_state.frameId) - self.vipc_server.send(camera_meta.stream, img.flatten().tobytes(), + + h, w = frs[m.which()].h, frs[m.which()].w + stride, y_height, _, yuv_size = get_nv12_info(w, h) + uv_offset = stride * y_height + padded_img = np.zeros(((uv_offset //stride) + (h // 2), stride)) + padded_img[:h, :w] = img[:h * w].reshape((-1, w)) + padded_img[uv_offset // stride:uv_offset // stride + h // 2, :w] = img[h * w:].reshape((-1, w)) + img_bytes = np.zeros((yuv_size,), dtype=np.uint8) + img_bytes[:padded_img.size] = padded_img.flatten() + + self.vipc_server.send(camera_meta.stream, img_bytes.tobytes(), camera_state.frameId, camera_state.timestampSof, camera_state.timestampEof) self.msg_queue = [] diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py index 723112163..6989f8957 100644 --- a/selfdrive/test/process_replay/test_fuzzy.py +++ b/selfdrive/test/process_replay/test_fuzzy.py @@ -2,7 +2,7 @@ import copy import os from hypothesis import given, HealthCheck, Phase, settings import hypothesis.strategies as st -from parameterized import parameterized +from openpilot.common.parameterized import parameterized from cereal import log from opendbc.car.toyota.values import CAR as TOYOTA diff --git a/selfdrive/test/process_replay/test_regen.py b/selfdrive/test/process_replay/test_regen.py index 5f26daf78..f4942e486 100644 --- a/selfdrive/test/process_replay/test_regen.py +++ b/selfdrive/test/process_replay/test_regen.py @@ -1,4 +1,4 @@ -from parameterized import parameterized +from openpilot.common.parameterized import parameterized from openpilot.selfdrive.test.process_replay.regen import regen_segment from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled diff --git a/selfdrive/test/setup_vsound.sh b/selfdrive/test/setup_vsound.sh deleted file mode 100755 index aab149974..000000000 --- a/selfdrive/test/setup_vsound.sh +++ /dev/null @@ -1,10 +0,0 @@ -#!/usr/bin/env bash - -{ - #start pulseaudio daemon - sudo pulseaudio -D - - # create a virtual null audio and set it to default device - sudo pactl load-module module-null-sink sink_name=virtual_audio - sudo pactl set-default-sink virtual_audio -} > /dev/null 2>&1 diff --git a/selfdrive/test/setup_xvfb.sh b/selfdrive/test/setup_xvfb.sh index 692b84d65..c1b74a850 100755 --- a/selfdrive/test/setup_xvfb.sh +++ b/selfdrive/test/setup_xvfb.sh @@ -2,7 +2,11 @@ # Sets up a virtual display for running map renderer and simulator without an X11 display -DISP_ID=99 +if uname -r | grep -q "WSL2"; then + DISP_ID=0 # WSLg uses display :0 +else + DISP_ID=99 # Standard Xvfb display +fi export DISPLAY=:$DISP_ID sudo Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null & @@ -15,5 +19,4 @@ do done touch ~/.Xauthority -export XDG_SESSION_TYPE="x11" -xset -q \ No newline at end of file +export XDG_SESSION_TYPE="x11" \ No newline at end of file diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 0de3e13c0..5556883ef 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -1,6 +1,4 @@ -import os import re -import json from pathlib import Path Import('env', 'arch', 'common') @@ -18,20 +16,8 @@ env.Command( action=f"python3 {generator}", ) -# compile gettext .po -> .mo translations -with open(File("translations/languages.json").abspath) as f: - languages = json.loads(f.read()) -po_sources = [f"#selfdrive/ui/translations/app_{l}.po" for l in languages.values()] -po_sources = [src for src in po_sources if os.path.exists(File(src).abspath)] -mo_targets = [src.replace(".po", ".mo") for src in po_sources] -mo_build = [] -for src, tgt in zip(po_sources, mo_targets): - mo_build.append(env.Command(tgt, src, "msgfmt -o $TARGET $SOURCE")) -mo_alias = env.Alias('mo', mo_build) -env.AlwaysBuild(mo_alias) - -if GetOption('extras'): +if GetOption('extras') and arch == "larch64": # build installers if arch != "Darwin": raylib_env = env.Clone() @@ -68,4 +54,4 @@ if GetOption('extras'): obj = raylib_env.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d) f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter, inter_bold, inter_light], LIBS=raylib_libs) # keep installers small - assert f[0].get_size() < 1900*1e3, f[0].get_size() + assert f[0].get_size() < 2500*1e3, f[0].get_size() diff --git a/selfdrive/ui/layouts/main.py b/selfdrive/ui/layouts/main.py index a020a63b5..2adecfeaa 100644 --- a/selfdrive/ui/layouts/main.py +++ b/selfdrive/ui/layouts/main.py @@ -39,10 +39,12 @@ class MainLayout(Widget): # Set callbacks self._setup_callbacks() - # Start onboarding if terms or training not completed + gui_app.push_widget(self) + + # Start onboarding if terms or training not completed, make sure to push after self self._onboarding_window = OnboardingWindow() if not self._onboarding_window.completed: - gui_app.set_modal_overlay(self._onboarding_window) + gui_app.push_widget(self._onboarding_window) def _render(self, _): self._handle_onroad_transition() diff --git a/selfdrive/ui/layouts/onboarding.py b/selfdrive/ui/layouts/onboarding.py index c480a3ed9..c53db2231 100644 --- a/selfdrive/ui/layouts/onboarding.py +++ b/selfdrive/ui/layouts/onboarding.py @@ -84,6 +84,9 @@ class TrainingGuide(Widget): if self._completed_callback: self._completed_callback() + # NOTE: this pops OnboardingWindow during real onboarding + gui_app.pop_widget() + def _update_state(self): if len(self._image_objs): self._textures.append(gui_app._load_texture_from_image(self._image_objs.pop(0))) @@ -213,11 +216,10 @@ class OnboardingWindow(Widget): elif not self._training_done: self._state = OnboardingState.ONBOARDING else: - gui_app.set_modal_overlay(None) + gui_app.pop_widget() def _on_completed_training(self): ui_state.params.put("CompletedTrainingVersion", training_version) - gui_app.set_modal_overlay(None) def _render(self, _): if self._training_guide is None: @@ -231,12 +233,12 @@ class OnboardingWindow(Widget): if not self._training_done: self._state = OnboardingState.ONBOARDING else: - gui_app.set_modal_overlay(None) + gui_app.pop_widget() elif self._state == OnboardingState.ONBOARDING: if not self._training_done: self._training_guide.render(self._rect) else: - gui_app.set_modal_overlay(None) + gui_app.pop_widget() elif self._state == OnboardingState.DECLINE: self._decline_page.render(self._rect) return -1 diff --git a/selfdrive/ui/layouts/settings/developer.py b/selfdrive/ui/layouts/settings/developer.py index 2ff94aa52..56c2951d0 100644 --- a/selfdrive/ui/layouts/settings/developer.py +++ b/selfdrive/ui/layouts/settings/developer.py @@ -169,7 +169,7 @@ class DeveloperLayout(Widget): def _on_alpha_long_enabled(self, state: bool): if state: - def confirm_callback(result: int): + def confirm_callback(result: DialogResult): if result == DialogResult.CONFIRM: self._params.put_bool("AlphaLongitudinalEnabled", True) self._params.put_bool("OnroadCycleRequested", True) @@ -181,8 +181,8 @@ class DeveloperLayout(Widget): content = (f"

{self._alpha_long_toggle.title}


" + f"

{self._alpha_long_toggle.description}

") - dlg = ConfirmDialog(content, tr("Enable"), rich=True) - gui_app.set_modal_overlay(dlg, callback=confirm_callback) + dlg = ConfirmDialog(content, tr("Enable"), rich=True, callback=confirm_callback) + gui_app.push_widget(dlg) else: self._params.put_bool("AlphaLongitudinalEnabled", False) diff --git a/selfdrive/ui/layouts/settings/device.py b/selfdrive/ui/layouts/settings/device.py index 8830ef946..45589af1f 100644 --- a/selfdrive/ui/layouts/settings/device.py +++ b/selfdrive/ui/layouts/settings/device.py @@ -9,7 +9,6 @@ from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialo from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.selfdrive.ui.layouts.onboarding import TrainingGuide from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog -from openpilot.system.hardware import TICI from openpilot.system.ui.lib.application import FontWeight, gui_app from openpilot.system.ui.lib.multilang import multilang, tr, tr_noop from openpilot.system.ui.widgets import Widget, DialogResult @@ -37,8 +36,6 @@ class DeviceLayout(Widget): self._params = Params() self._select_language_dialog: MultiOptionDialog | None = None - self._driver_camera: DriverCameraDialog | None = None - self._pair_device_dialog: PairingDialog | None = None self._fcc_dialog: HtmlModal | None = None self._training_guide: TrainingGuide | None = None @@ -48,7 +45,8 @@ class DeviceLayout(Widget): ui_state.add_offroad_transition_callback(self._offroad_transition) def _initialize_items(self): - self._pair_device_btn = button_item(lambda: tr("Pair Device"), lambda: tr("PAIR"), lambda: tr(DESCRIPTIONS['pair_device']), callback=self._pair_device) + self._pair_device_btn = button_item(lambda: tr("Pair Device"), lambda: tr("PAIR"), lambda: tr(DESCRIPTIONS['pair_device']), + callback=lambda: gui_app.push_widget(PairingDialog())) self._pair_device_btn.set_visible(lambda: not ui_state.prime_state.is_paired()) self._reset_calib_btn = button_item(lambda: tr("Reset Calibration"), lambda: tr("RESET"), lambda: tr(DESCRIPTIONS['reset_calibration']), @@ -63,15 +61,14 @@ class DeviceLayout(Widget): text_item(lambda: tr("Serial"), self._params.get("HardwareSerial") or (lambda: tr("N/A"))), self._pair_device_btn, button_item(lambda: tr("Driver Camera"), lambda: tr("PREVIEW"), lambda: tr(DESCRIPTIONS['driver_camera']), - callback=self._show_driver_camera, enabled=ui_state.is_offroad), + callback=lambda: gui_app.push_widget(DriverCameraDialog()), enabled=ui_state.is_offroad), self._reset_calib_btn, button_item(lambda: tr("Review Training Guide"), lambda: tr("REVIEW"), lambda: tr(DESCRIPTIONS['review_guide']), self._on_review_training_guide, enabled=ui_state.is_offroad), - regulatory_btn := button_item(lambda: tr("Regulatory"), lambda: tr("VIEW"), callback=self._on_regulatory, enabled=ui_state.is_offroad), + button_item(lambda: tr("Regulatory"), lambda: tr("VIEW"), callback=self._on_regulatory, enabled=ui_state.is_offroad), button_item(lambda: tr("Change Language"), lambda: tr("CHANGE"), callback=self._show_language_dialog), self._power_off_btn, ] - regulatory_btn.set_visible(TICI) return items def _offroad_transition(self): @@ -84,29 +81,23 @@ class DeviceLayout(Widget): self._scroller.render(rect) def _show_language_dialog(self): - def handle_language_selection(result: int): - if result == 1 and self._select_language_dialog: + def handle_language_selection(result: DialogResult): + if result == DialogResult.CONFIRM and self._select_language_dialog: selected_language = multilang.languages[self._select_language_dialog.selection] multilang.change_language(selected_language) self._update_calib_description() self._select_language_dialog = None self._select_language_dialog = MultiOptionDialog(tr("Select a language"), multilang.languages, multilang.codes[multilang.language], - option_font_weight=FontWeight.UNIFONT) - gui_app.set_modal_overlay(self._select_language_dialog, callback=handle_language_selection) - - def _show_driver_camera(self): - if not self._driver_camera: - self._driver_camera = DriverCameraDialog() - - gui_app.set_modal_overlay(self._driver_camera, callback=lambda result: setattr(self, '_driver_camera', None)) + option_font_weight=FontWeight.UNIFONT, callback=handle_language_selection) + gui_app.push_widget(self._select_language_dialog) def _reset_calibration_prompt(self): if ui_state.engaged: - gui_app.set_modal_overlay(alert_dialog(tr("Disengage to Reset Calibration"))) + gui_app.push_widget(alert_dialog(tr("Disengage to Reset Calibration"))) return - def reset_calibration(result: int): + def reset_calibration(result: DialogResult): # Check engaged again in case it changed while the dialog was open if ui_state.engaged or result != DialogResult.CONFIRM: return @@ -119,8 +110,8 @@ class DeviceLayout(Widget): self._params.put_bool("OnroadCycleRequested", True) self._update_calib_description() - dialog = ConfirmDialog(tr("Are you sure you want to reset calibration?"), tr("Reset")) - gui_app.set_modal_overlay(dialog, callback=reset_calibration) + dialog = ConfirmDialog(tr("Are you sure you want to reset calibration?"), tr("Reset"), callback=reset_calibration) + gui_app.push_widget(dialog) def _update_calib_description(self): desc = tr(DESCRIPTIONS['reset_calibration']) @@ -172,42 +163,34 @@ class DeviceLayout(Widget): def _reboot_prompt(self): if ui_state.engaged: - gui_app.set_modal_overlay(alert_dialog(tr("Disengage to Reboot"))) + gui_app.push_widget(alert_dialog(tr("Disengage to Reboot"))) return - dialog = ConfirmDialog(tr("Are you sure you want to reboot?"), tr("Reboot")) - gui_app.set_modal_overlay(dialog, callback=self._perform_reboot) + def perform_reboot(result: DialogResult): + if not ui_state.engaged and result == DialogResult.CONFIRM: + self._params.put_bool_nonblocking("DoReboot", True) - def _perform_reboot(self, result: int): - if not ui_state.engaged and result == DialogResult.CONFIRM: - self._params.put_bool_nonblocking("DoReboot", True) + dialog = ConfirmDialog(tr("Are you sure you want to reboot?"), tr("Reboot"), callback=perform_reboot) + gui_app.push_widget(dialog) def _power_off_prompt(self): if ui_state.engaged: - gui_app.set_modal_overlay(alert_dialog(tr("Disengage to Power Off"))) + gui_app.push_widget(alert_dialog(tr("Disengage to Power Off"))) return - dialog = ConfirmDialog(tr("Are you sure you want to power off?"), tr("Power Off")) - gui_app.set_modal_overlay(dialog, callback=self._perform_power_off) + def perform_power_off(result: DialogResult): + if not ui_state.engaged and result == DialogResult.CONFIRM: + self._params.put_bool_nonblocking("DoShutdown", True) - def _perform_power_off(self, result: int): - if not ui_state.engaged and result == DialogResult.CONFIRM: - self._params.put_bool_nonblocking("DoShutdown", True) - - def _pair_device(self): - if not self._pair_device_dialog: - self._pair_device_dialog = PairingDialog() - gui_app.set_modal_overlay(self._pair_device_dialog, callback=lambda result: setattr(self, '_pair_device_dialog', None)) + dialog = ConfirmDialog(tr("Are you sure you want to power off?"), tr("Power Off"), callback=perform_power_off) + gui_app.push_widget(dialog) def _on_regulatory(self): if not self._fcc_dialog: self._fcc_dialog = HtmlModal(os.path.join(BASEDIR, "selfdrive/assets/offroad/fcc.html")) - gui_app.set_modal_overlay(self._fcc_dialog) + gui_app.push_widget(self._fcc_dialog) def _on_review_training_guide(self): if not self._training_guide: - def completed_callback(): - gui_app.set_modal_overlay(None) - - self._training_guide = TrainingGuide(completed_callback=completed_callback) - gui_app.set_modal_overlay(self._training_guide) + self._training_guide = TrainingGuide() + gui_app.push_widget(self._training_guide) diff --git a/selfdrive/ui/layouts/settings/software.py b/selfdrive/ui/layouts/settings/software.py index e4c3098c2..f7424b974 100644 --- a/selfdrive/ui/layouts/settings/software.py +++ b/selfdrive/ui/layouts/settings/software.py @@ -168,12 +168,12 @@ class SoftwareLayout(Widget): os.system("pkill -SIGHUP -f system.updated.updated") def _on_uninstall(self): - def handle_uninstall_confirmation(result): + def handle_uninstall_confirmation(result: DialogResult): if result == DialogResult.CONFIRM: ui_state.params.put_bool("DoUninstall", True) - dialog = ConfirmDialog(tr("Are you sure you want to uninstall?"), tr("Uninstall")) - gui_app.set_modal_overlay(dialog, callback=handle_uninstall_confirmation) + dialog = ConfirmDialog(tr("Are you sure you want to uninstall?"), tr("Uninstall"), callback=handle_uninstall_confirmation) + gui_app.push_widget(dialog) def _on_install_update(self): # Trigger reboot to install update @@ -192,9 +192,8 @@ class SoftwareLayout(Widget): branches.insert(0, b) current_target = ui_state.params.get("UpdaterTargetBranch") or "" - self._branch_dialog = MultiOptionDialog(tr("Select a branch"), branches, current_target) - def handle_selection(result): + def handle_selection(result: DialogResult): # Confirmed selection if result == DialogResult.CONFIRM and self._branch_dialog is not None and self._branch_dialog.selection: selection = self._branch_dialog.selection @@ -203,4 +202,5 @@ class SoftwareLayout(Widget): os.system("pkill -SIGUSR1 -f system.updated.updated") self._branch_dialog = None - gui_app.set_modal_overlay(self._branch_dialog, callback=handle_selection) + self._branch_dialog = MultiOptionDialog(tr("Select a branch"), branches, current_target, callback=handle_selection) + gui_app.push_widget(self._branch_dialog) diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py index f5f3a4e9c..9f704b1fb 100644 --- a/selfdrive/ui/layouts/settings/toggles.py +++ b/selfdrive/ui/layouts/settings/toggles.py @@ -218,7 +218,7 @@ class TogglesLayout(Widget): def _handle_experimental_mode_toggle(self, state: bool): confirmed = self._params.get_bool("ExperimentalModeConfirmed") if state and not confirmed: - def confirm_callback(result: int): + def confirm_callback(result: DialogResult): if result == DialogResult.CONFIRM: self._params.put_bool("ExperimentalMode", True) self._params.put_bool("ExperimentalModeConfirmed", True) @@ -229,8 +229,8 @@ class TogglesLayout(Widget): # show confirmation dialog content = (f"

{self._toggles['ExperimentalMode'].title}


" + f"

{self._toggles['ExperimentalMode'].description}

") - dlg = ConfirmDialog(content, tr("Enable"), rich=True) - gui_app.set_modal_overlay(dlg, callback=confirm_callback) + dlg = ConfirmDialog(content, tr("Enable"), rich=True, callback=confirm_callback) + gui_app.push_widget(dlg) else: self._update_experimental_mode_icon() self._params.put_bool("ExperimentalMode", state) diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py index 0da5445ed..fb3d51110 100644 --- a/selfdrive/ui/mici/layouts/home.py +++ b/selfdrive/ui/mici/layouts/home.py @@ -3,12 +3,13 @@ import time from cereal import log import pyray as rl from collections.abc import Callable -from openpilot.system.ui.widgets.label import gui_label, MiciLabel, UnifiedLabel from openpilot.system.ui.widgets import Widget -from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_COLOR, MousePos +from openpilot.system.ui.widgets.layouts import HBoxLayout +from openpilot.system.ui.widgets.icon_widget import IconWidget +from openpilot.system.ui.widgets.label import MiciLabel, UnifiedLabel +from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos from openpilot.selfdrive.ui.ui_state import ui_state -from openpilot.system.ui.text import wrap_text -from openpilot.system.version import training_version, RELEASE_BRANCHES +from openpilot.system.version import RELEASE_BRANCHES HEAD_BUTTON_FONT_SIZE = 40 HOME_PADDING = 8 @@ -26,55 +27,56 @@ NETWORK_TYPES = { } -class DeviceStatus(Widget): +class NetworkIcon(Widget): def __init__(self): super().__init__() - self.set_rect(rl.Rectangle(0, 0, 300, 175)) - self._update_state() - self._version_text = self._get_version_text() + self.set_rect(rl.Rectangle(0, 0, 54, 44)) # max size of all icons + self._net_type = NetworkType.none + self._net_strength = 0 - self._do_welcome() + self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 50, 44) + self._wifi_none_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_none.png", 50, 37) + self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 50, 37) + self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 50, 37) + self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 50, 37) - def _do_welcome(self): - ui_state.params.put("CompletedTrainingVersion", training_version) - - def refresh(self): - self._update_state() - self._version_text = self._get_version_text() - - def _get_version_text(self) -> str: - brand = "sunnypilot" - description = ui_state.params.get("UpdaterCurrentDescription") - return f"{brand} {description}" if description else brand + self._cell_none_txt = gui_app.texture("icons_mici/settings/network/cell_strength_none.png", 54, 36) + self._cell_low_txt = gui_app.texture("icons_mici/settings/network/cell_strength_low.png", 54, 36) + self._cell_medium_txt = gui_app.texture("icons_mici/settings/network/cell_strength_medium.png", 54, 36) + self._cell_high_txt = gui_app.texture("icons_mici/settings/network/cell_strength_high.png", 54, 36) + self._cell_full_txt = gui_app.texture("icons_mici/settings/network/cell_strength_full.png", 54, 36) def _update_state(self): - # TODO: refresh function that can be called periodically, not at 60 fps, so we can update version - # update system status - self._system_status = "SYSTEM READY ✓" if ui_state.panda_type != log.PandaState.PandaType.unknown else "BOOTING UP..." - - # update network status - strength = ui_state.sm['deviceState'].networkStrength.raw - strength_text = "● " * strength + "○ " * (4 - strength) # ◌ also works - network_type = NETWORK_TYPES[ui_state.sm['deviceState'].networkType.raw] - self._network_status = f"{network_type} {strength_text}" + device_state = ui_state.sm['deviceState'] + self._net_type = device_state.networkType + strength = device_state.networkStrength + self._net_strength = max(0, min(5, strength.raw + 1)) if strength.raw > 0 else 0 def _render(self, _): - # draw status - status_rect = rl.Rectangle(self._rect.x, self._rect.y, self._rect.width, 40) - gui_label(status_rect, self._system_status, font_size=HEAD_BUTTON_FONT_SIZE, color=DEFAULT_TEXT_COLOR, - font_weight=FontWeight.BOLD, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) + if self._net_type == NetworkType.wifi: + # There is no 1 + draw_net_txt = {0: self._wifi_none_txt, + 2: self._wifi_low_txt, + 3: self._wifi_medium_txt, + 4: self._wifi_full_txt, + 5: self._wifi_full_txt}.get(self._net_strength, self._wifi_low_txt) + elif self._net_type in (NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G): + draw_net_txt = {0: self._cell_none_txt, + 2: self._cell_low_txt, + 3: self._cell_medium_txt, + 4: self._cell_high_txt, + 5: self._cell_full_txt}.get(self._net_strength, self._cell_none_txt) + else: + draw_net_txt = self._wifi_slash_txt - # draw network status - network_rect = rl.Rectangle(self._rect.x, self._rect.y + 60, self._rect.width, 40) - gui_label(network_rect, self._network_status, font_size=40, color=DEFAULT_TEXT_COLOR, - font_weight=FontWeight.MEDIUM, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) + draw_x = self._rect.x + (self._rect.width - draw_net_txt.width) / 2 + draw_y = self._rect.y + (self._rect.height - draw_net_txt.height) / 2 - # draw version - version_font_size = 30 - version_rect = rl.Rectangle(self._rect.x, self._rect.y + 140, self._rect.width + 20, 40) - wrapped_text = '\n'.join(wrap_text(self._version_text, version_font_size, version_rect.width)) - gui_label(version_rect, wrapped_text, font_size=version_font_size, color=DEFAULT_TEXT_COLOR, - font_weight=FontWeight.MEDIUM, alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT) + if draw_net_txt == self._wifi_slash_txt: + # Offset by difference in height between slashless and slash icons to make center align match + draw_y -= (self._wifi_slash_txt.height - self._wifi_none_txt.height) / 2 + + rl.draw_texture(draw_net_txt, int(draw_x), int(draw_y), rl.Color(255, 255, 255, int(255 * 0.9))) class MiciHomeLayout(Widget): @@ -90,24 +92,15 @@ class MiciHomeLayout(Widget): self._version_text = None self._experimental_mode = False - self._settings_txt = gui_app.texture("icons_mici/settings.png", 48, 48) - self._experimental_txt = gui_app.texture("icons_mici/experimental_mode.png", 48, 48) - self._mic_txt = gui_app.texture("icons_mici/microphone.png", 32, 46) + self._experimental_icon = IconWidget("icons_mici/experimental_mode.png", (48, 48)) + self._mic_icon = IconWidget("icons_mici/microphone.png", (32, 46)) - self._net_type = NETWORK_TYPES.get(NetworkType.none) - self._net_strength = 0 - - self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 50, 44) - self._wifi_none_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_none.png", 50, 37) - self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 50, 37) - self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 50, 37) - self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 50, 37) - - self._cell_none_txt = gui_app.texture("icons_mici/settings/network/cell_strength_none.png", 54, 36) - self._cell_low_txt = gui_app.texture("icons_mici/settings/network/cell_strength_low.png", 54, 36) - self._cell_medium_txt = gui_app.texture("icons_mici/settings/network/cell_strength_medium.png", 54, 36) - self._cell_high_txt = gui_app.texture("icons_mici/settings/network/cell_strength_high.png", 54, 36) - self._cell_full_txt = gui_app.texture("icons_mici/settings/network/cell_strength_full.png", 54, 36) + self._status_bar_layout = HBoxLayout([ + IconWidget("icons_mici/settings.png", (48, 48), opacity=0.9), + NetworkIcon(), + self._experimental_icon, + self._mic_icon, + ], spacing=18) self._openpilot_label = MiciLabel("sunnypilot", font_size=90, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.AUDIOWIDE) self._version_label = MiciLabel("", font_size=36, font_weight=FontWeight.ROMAN) @@ -118,7 +111,6 @@ class MiciHomeLayout(Widget): def show_event(self): self._version_text = self._get_version_text() - self._update_network_status(ui_state.sm['deviceState']) self._update_params() def _update_params(self): @@ -142,19 +134,11 @@ class MiciHomeLayout(Widget): self._did_long_press = True if rl.get_time() - self._last_refresh > 5.0: - device_state = ui_state.sm['deviceState'] - self._update_network_status(device_state) - # Update version text self._version_text = self._get_version_text() self._last_refresh = rl.get_time() self._update_params() - def _update_network_status(self, device_state): - self._net_type = device_state.networkType - strength = device_state.networkStrength - self._net_strength = max(0, min(5, strength.raw + 1)) if strength.raw > 0 else 0 - def set_callbacks(self, on_settings: Callable | None = None): self._on_settings_click = on_settings @@ -206,60 +190,9 @@ class MiciHomeLayout(Widget): self._version_commit_label.set_position(version_pos.x, version_pos.y + self._date_label.font_size + 7) self._version_commit_label.render() - self._render_bottom_status_bar() - - def _render_bottom_status_bar(self): # ***** Center-aligned bottom section icons ***** + self._experimental_icon.set_visible(self._experimental_mode) + self._mic_icon.set_visible(ui_state.recording_audio) - # TODO: refactor repeated icon drawing into a small loop - ITEM_SPACING = 18 - Y_CENTER = 24 - - last_x = self.rect.x + HOME_PADDING - - # Draw settings icon in bottom left corner - rl.draw_texture(self._settings_txt, int(last_x), int(self._rect.y + self.rect.height - self._settings_txt.height / 2 - Y_CENTER), - rl.Color(255, 255, 255, int(255 * 0.9))) - last_x = last_x + self._settings_txt.width + ITEM_SPACING - - # draw network - if self._net_type == NetworkType.wifi: - # There is no 1 - draw_net_txt = {0: self._wifi_none_txt, - 2: self._wifi_low_txt, - 3: self._wifi_medium_txt, - 4: self._wifi_full_txt, - 5: self._wifi_full_txt}.get(self._net_strength, self._wifi_low_txt) - rl.draw_texture(draw_net_txt, int(last_x), - int(self._rect.y + self.rect.height - draw_net_txt.height / 2 - Y_CENTER), rl.Color(255, 255, 255, int(255 * 0.9))) - last_x += draw_net_txt.width + ITEM_SPACING - - elif self._net_type in (NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G): - draw_net_txt = {0: self._cell_none_txt, - 2: self._cell_low_txt, - 3: self._cell_medium_txt, - 4: self._cell_high_txt, - 5: self._cell_full_txt}.get(self._net_strength, self._cell_none_txt) - rl.draw_texture(draw_net_txt, int(last_x), - int(self._rect.y + self.rect.height - draw_net_txt.height / 2 - Y_CENTER), rl.Color(255, 255, 255, int(255 * 0.9))) - last_x += draw_net_txt.width + ITEM_SPACING - - else: - # No network - # Offset by difference in height between slashless and slash icons to make center align match - rl.draw_texture(self._wifi_slash_txt, int(last_x), int(self._rect.y + self.rect.height - self._wifi_slash_txt.height / 2 - - (self._wifi_slash_txt.height - self._wifi_none_txt.height) / 2 - Y_CENTER), - rl.Color(255, 255, 255, 255)) - last_x += self._wifi_slash_txt.width + ITEM_SPACING - - # draw experimental icon - if self._experimental_mode: - rl.draw_texture(self._experimental_txt, int(last_x), - int(self._rect.y + self.rect.height - self._experimental_txt.height / 2 - Y_CENTER), rl.Color(255, 255, 255, 255)) - last_x += self._experimental_txt.width + ITEM_SPACING - - # draw microphone icon when recording audio is enabled - if ui_state.recording_audio: - rl.draw_texture(self._mic_txt, int(last_x), - int(self._rect.y + self.rect.height - self._mic_txt.height / 2 - Y_CENTER), rl.Color(255, 255, 255, 255)) - last_x += self._mic_txt.width + ITEM_SPACING + footer_rect = rl.Rectangle(self.rect.x + HOME_PADDING, self.rect.y + self.rect.height - 48, self.rect.width - HOME_PADDING, 48) + self._status_bar_layout.render(footer_rect) diff --git a/selfdrive/ui/mici/layouts/main.py b/selfdrive/ui/mici/layouts/main.py index 8f24d0b9b..612fae4a7 100644 --- a/selfdrive/ui/mici/layouts/main.py +++ b/selfdrive/ui/mici/layouts/main.py @@ -1,5 +1,4 @@ import pyray as rl -from enum import IntEnum import cereal.messaging as messaging from openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout from openpilot.selfdrive.ui.mici.layouts.settings.settings import SettingsLayout @@ -18,18 +17,12 @@ if gui_app.sunnypilot_ui(): ONROAD_DELAY = 2.5 # seconds -class MainState(IntEnum): - MAIN = 0 - SETTINGS = 1 - - class MiciMainLayout(Widget): def __init__(self): super().__init__() self._pm = messaging.PubMaster(['bookmarkButton']) - self._current_mode: MainState | None = None self._prev_onroad = False self._prev_standstill = False self._onroad_time_delay: float | None = None @@ -50,40 +43,41 @@ class MiciMainLayout(Widget): self._alerts_layout, self._home_layout, self._onroad_layout, - ], spacing=0, pad_start=0, pad_end=0, scroll_indicator=False) + ], snap_items=True, spacing=0, pad=0, scroll_indicator=False, edge_shadows=False) self._scroller.set_reset_scroll_at_show(False) + self._scroller.set_enabled(lambda: self.enabled) # for nav stack # Disable scrolling when onroad is interacting with bookmark self._scroller.set_scrolling_enabled(lambda: not self._onroad_layout.is_swiping_left()) - self._layouts = { - MainState.MAIN: self._scroller, - MainState.SETTINGS: self._settings_layout, - } - # Set callbacks self._setup_callbacks() - # Start onboarding if terms or training not completed + gui_app.push_widget(self) + + # Start onboarding if terms or training not completed, make sure to push after self self._onboarding_window = OnboardingWindow() if not self._onboarding_window.completed: - gui_app.set_modal_overlay(self._onboarding_window) + gui_app.push_widget(self._onboarding_window) def _setup_callbacks(self): - self._home_layout.set_callbacks(on_settings=self._on_settings_clicked) - self._settings_layout.set_callbacks(on_close=self._on_settings_closed) + self._home_layout.set_callbacks(on_settings=lambda: gui_app.push_widget(self._settings_layout)) self._onroad_layout.set_click_callback(lambda: self._scroll_to(self._home_layout)) - device.add_interactive_timeout_callback(self._set_mode_for_started) + device.add_interactive_timeout_callback(self._on_interactive_timeout) + + def show_event(self): + super().show_event() + self._scroller.show_event() + + def hide_event(self): + super().hide_event() + self._scroller.hide_event() def _scroll_to(self, layout: Widget): layout_x = int(layout.rect.x) self._scroller.scroll_to(layout_x, smooth=True) def _render(self, _): - # Initial show event - if self._current_mode is None: - self._set_mode(MainState.MAIN) - if not self._setup: if self._alerts_layout.active_alerts() > 0: self._scroller.scroll_to(self._alerts_layout.rect.x) @@ -92,59 +86,50 @@ class MiciMainLayout(Widget): self._setup = True # Render - if self._current_mode == MainState.MAIN: - self._scroller.render(self._rect) - - elif self._current_mode == MainState.SETTINGS: - self._settings_layout.render(self._rect) + self._scroller.render(self._rect) self._handle_transitions() - def _set_mode(self, mode: MainState): - if mode != self._current_mode: - if self._current_mode is not None: - self._layouts[self._current_mode].hide_event() - self._layouts[mode].show_event() - self._current_mode = mode - def _handle_transitions(self): + # Don't pop if onboarding + if gui_app.get_active_widget() == self._onboarding_window: + return + if ui_state.started != self._prev_onroad: self._prev_onroad = ui_state.started + # onroad: after delay, pop nav stack and scroll to onroad + # offroad: immediately scroll to home, but don't pop nav stack (can stay in settings) if ui_state.started: self._onroad_time_delay = rl.get_time() else: - self._set_mode_for_started(True) + self._scroll_to(self._home_layout) - # delay so we show home for a bit after starting if self._onroad_time_delay is not None and rl.get_time() - self._onroad_time_delay >= ONROAD_DELAY: - self._set_mode_for_started(True) + gui_app.pop_widgets_to(self) + self._scroll_to(self._onroad_layout) self._onroad_time_delay = None + # When car leaves standstill, pop nav stack and scroll to onroad CS = ui_state.sm["carState"] if not CS.standstill and self._prev_standstill: - self._set_mode(MainState.MAIN) + gui_app.pop_widgets_to(self) self._scroll_to(self._onroad_layout) self._prev_standstill = CS.standstill - def _set_mode_for_started(self, onroad_transition: bool = False): + def _on_interactive_timeout(self): + # Don't pop if onboarding + if gui_app.get_active_widget() == self._onboarding_window: + return + if ui_state.started: - CS = ui_state.sm["carState"] - # Only go onroad if car starts or is not at a standstill - if not CS.standstill or onroad_transition: - self._set_mode(MainState.MAIN) + # Don't pop if at standstill + if not ui_state.sm["carState"].standstill: + gui_app.pop_widgets_to(self) self._scroll_to(self._onroad_layout) else: - # Stay in settings if car turns off while in settings - if not onroad_transition or self._current_mode != MainState.SETTINGS: - self._set_mode(MainState.MAIN) - self._scroll_to(self._home_layout) - - def _on_settings_clicked(self): - self._set_mode(MainState.SETTINGS) - - def _on_settings_closed(self): - self._set_mode(MainState.MAIN) + gui_app.pop_widgets_to(self) + self._scroll_to(self._home_layout) def _on_bookmark_clicked(self): user_bookmark = messaging.new_message('bookmarkButton') diff --git a/selfdrive/ui/mici/layouts/offroad_alerts.py b/selfdrive/ui/mici/layouts/offroad_alerts.py index b01dae6ae..a78c3341c 100644 --- a/selfdrive/ui/mici/layouts/offroad_alerts.py +++ b/selfdrive/ui/mici/layouts/offroad_alerts.py @@ -197,7 +197,7 @@ class MiciOffroadAlerts(Widget): self._last_refresh = 0.0 # Create vertical scroller - self._scroller = Scroller([], horizontal=False, spacing=12, pad_start=0, pad_end=0, snap_items=False) + self._scroller = Scroller([], horizontal=False, spacing=12, pad=0) # Create empty state label self._empty_label = UnifiedLabel(tr("no alerts"), 65, FontWeight.DISPLAY, rl.WHITE, @@ -289,10 +289,15 @@ class MiciOffroadAlerts(Widget): def show_event(self): """Reset scroll position when shown and refresh alerts.""" + super().show_event() self._scroller.show_event() self._last_refresh = time.monotonic() self.refresh() + def hide_event(self): + super().hide_event() + self._scroller.hide_event() + def _update_state(self): """Periodically refresh alerts.""" # Refresh alerts periodically, not every frame diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py index 9f9c7b83a..7f1754074 100644 --- a/selfdrive/ui/mici/layouts/onboarding.py +++ b/selfdrive/ui/mici/layouts/onboarding.py @@ -8,6 +8,7 @@ from openpilot.common.filter_simple import FirstOrderFilter from openpilot.system.hardware import HARDWARE from openpilot.system.ui.lib.application import FontWeight, gui_app from openpilot.system.ui.widgets import Widget +from openpilot.system.ui.widgets.nav_widget import NavWidget from openpilot.system.ui.widgets.button import SmallButton, SmallCircleIconButton from openpilot.system.ui.widgets.label import UnifiedLabel from openpilot.system.ui.widgets.slider import SmallSlider @@ -45,7 +46,7 @@ class DriverCameraSetupDialog(DriverCameraDialog): gui_label(rect, tr("camera starting"), font_size=64, font_weight=FontWeight.BOLD, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) rl.end_scissor_mode() - return -1 + return # Position dmoji on opposite side from driver is_rhd = self.driver_state_renderer.is_rhd @@ -58,7 +59,6 @@ class DriverCameraSetupDialog(DriverCameraDialog): self._draw_face_detection(rect) rl.end_scissor_mode() - return -1 class TrainingGuidePreDMTutorial(SetupTermsPage): @@ -127,8 +127,11 @@ class TrainingGuideDMTutorial(Widget): def __init__(self, continue_callback): super().__init__() + + self_ref = weakref.ref(self) + self._back_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_question.png", 28, 48)) - self._back_button.set_click_callback(self._show_bad_face_page) + self._back_button.set_click_callback(lambda: self_ref() and self_ref()._show_bad_face_page()) self._good_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 42, 42)) # Wrap the continue callback to restore settings @@ -141,7 +144,7 @@ class TrainingGuideDMTutorial(Widget): self._progress = FirstOrderFilter(0.0, 0.5, 1 / gui_app.target_fps) self._dialog = DriverCameraSetupDialog() - self._bad_face_page = DMBadFaceDetected(HARDWARE.shutdown, self._hide_bad_face_page) + self._bad_face_page = DMBadFaceDetected(HARDWARE.shutdown, lambda: self_ref() and self_ref()._hide_bad_face_page()) self._should_show_bad_face_page = False # Disable driver monitoring model when device times out for inactivity @@ -367,9 +370,9 @@ class TrainingGuide(Widget): self._completed_callback() def _render(self, _): + rl.draw_rectangle_rec(self._rect, rl.BLACK) if self._step < len(self._steps): self._steps[self._step].render(self._rect) - return -1 class DeclinePage(Widget): @@ -438,9 +441,11 @@ class TermsPage(SetupTermsPage): )) -class OnboardingWindow(Widget): +class OnboardingWindow(NavWidget): def __init__(self): super().__init__() + self.set_back_enabled(False) + self._accepted_terms: bool = ui_state.params.get("HasAcceptedTerms") == terms_version self._training_done: bool = ui_state.params.get("CompletedTrainingVersion") == training_version @@ -485,7 +490,7 @@ class OnboardingWindow(Widget): def close(self): ui_state.params.put_bool("IsDriverViewEnabled", False) - gui_app.set_modal_overlay(None) + gui_app.pop_widget() def _on_terms_accepted(self): ui_state.params.put("HasAcceptedTerms", terms_version) @@ -518,4 +523,3 @@ class OnboardingWindow(Widget): self.close() elif self._state == OnboardingState.DECLINE: self._decline_page.render(self._rect) - return -1 diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/selfdrive/ui/mici/layouts/settings/developer.py index b6145e042..b04d69682 100644 --- a/selfdrive/ui/mici/layouts/settings/developer.py +++ b/selfdrive/ui/mici/layouts/settings/developer.py @@ -1,21 +1,20 @@ import pyray as rl -from collections.abc import Callable from openpilot.common.time_helpers import system_time_valid from openpilot.system.ui.widgets.scroller import Scroller from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle, BigParamControl, BigCircleParamControl from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigInputDialog from openpilot.system.ui.lib.application import gui_app -from openpilot.system.ui.widgets import NavWidget +from openpilot.system.ui.widgets.nav_widget import NavWidget from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.selfdrive.ui.widgets.ssh_key import SshKeyAction class DeveloperLayoutMici(NavWidget): - def __init__(self, back_callback: Callable): + def __init__(self): super().__init__() - self.set_back_callback(back_callback) + self.set_back_callback(gui_app.pop_widget) def github_username_callback(username: str): if username: @@ -25,16 +24,16 @@ class DeveloperLayoutMici(NavWidget): self._ssh_keys_btn.set_value(username) else: dlg = BigDialog("", ssh_keys._error_message) - gui_app.set_modal_overlay(dlg) + gui_app.push_widget(dlg) def ssh_keys_callback(): github_username = ui_state.params.get("GithubUsername") or "" - dlg = BigInputDialog("enter GitHub username", github_username, confirm_callback=github_username_callback) + dlg = BigInputDialog("enter GitHub username...", github_username, confirm_callback=github_username_callback) if not system_time_valid(): dlg = BigDialog("Please connect to Wi-Fi to fetch your key", "") - gui_app.set_modal_overlay(dlg) + gui_app.push_widget(dlg) return - gui_app.set_modal_overlay(dlg) + gui_app.push_widget(dlg) txt_ssh = gui_app.texture("icons_mici/settings/developer/ssh.png", 56, 64) github_username = ui_state.params.get("GithubUsername") or "" @@ -66,7 +65,7 @@ class DeveloperLayoutMici(NavWidget): self._long_maneuver_toggle, self._alpha_long_toggle, self._debug_mode_toggle, - ], snap_items=False) + ]) # Toggle lists self._refresh_toggles = ( @@ -105,6 +104,10 @@ class DeveloperLayoutMici(NavWidget): self._scroller.show_event() self._update_toggles() + def hide_event(self): + super().hide_event() + self._scroller.hide_event() + def _render(self, rect: rl.Rectangle): self._scroller.render(rect) diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py index 64ce80e23..fae9de657 100644 --- a/selfdrive/ui/mici/layouts/settings/device.py +++ b/selfdrive/ui/mici/layouts/settings/device.py @@ -16,7 +16,8 @@ from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCamera from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos from openpilot.system.ui.lib.multilang import tr -from openpilot.system.ui.widgets import Widget, NavWidget +from openpilot.system.ui.widgets import Widget +from openpilot.system.ui.widgets.nav_widget import NavWidget from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.system.ui.widgets.label import MiciLabel from openpilot.system.ui.widgets.html_render import HtmlModal, HtmlRenderer @@ -28,7 +29,7 @@ class MiciFccModal(NavWidget): def __init__(self, file_path: str | None = None, text: str | None = None): super().__init__() - self.set_back_callback(lambda: gui_app.set_modal_overlay(None)) + self.set_back_callback(gui_app.pop_widget) self._content = HtmlRenderer(file_path=file_path, text=text) self._scroll_panel = GuiScrollPanel2(horizontal=False) self._fcc_logo = gui_app.texture("icons_mici/settings/device/fcc_logo.png", 76, 64) @@ -47,8 +48,6 @@ class MiciFccModal(NavWidget): rl.draw_texture_ex(self._fcc_logo, fcc_pos, 0.0, 1.0, rl.WHITE) - return -1 - def _engaged_confirmation_callback(callback: Callable, action_text: str): if not ui_state.engaged: @@ -74,10 +73,10 @@ def _engaged_confirmation_callback(callback: Callable, action_text: str): dlg: BigConfirmationDialogV2 | BigDialog = BigConfirmationDialogV2(f"slide to\n{action_text.lower()}", icon, red=red, exit_on_confirm=action_text == "reset", confirm_callback=confirm_callback) - gui_app.set_modal_overlay(dlg) + gui_app.push_widget(dlg) else: dlg = BigDialog(f"Disengage to {action_text}", "") - gui_app.set_modal_overlay(dlg) + gui_app.push_widget(dlg) class DeviceInfoLayoutMici(Widget): @@ -147,7 +146,7 @@ class PairBigButton(BigButton): dlg = BigDialog(tr("Device must be registered with the comma.ai backend to pair"), "") else: dlg = PairingDialog() - gui_app.set_modal_overlay(dlg) + gui_app.push_widget(dlg) UPDATER_TIMEOUT = 10.0 # seconds to wait for updater to respond @@ -173,7 +172,7 @@ class UpdateOpenpilotBigButton(BigButton): def _handle_mouse_release(self, mouse_pos: MousePos): if not system_time_valid(): dlg = BigDialog(tr("Please connect to Wi-Fi to update"), "") - gui_app.set_modal_overlay(dlg) + gui_app.push_widget(dlg) return self.set_enabled(False) @@ -268,12 +267,10 @@ class UpdateOpenpilotBigButton(BigButton): class DeviceLayoutMici(NavWidget): - def __init__(self, back_callback: Callable): + def __init__(self): super().__init__() self._fcc_dialog: HtmlModal | None = None - self._driver_camera: DriverCameraDialog | None = None - self._training_guide: TrainingGuide | None = None def power_off_callback(): ui_state.params.put_bool("DoShutdown", True) @@ -309,11 +306,11 @@ class DeviceLayoutMici(NavWidget): regulatory_btn.set_click_callback(self._on_regulatory) driver_cam_btn = BigButton("driver\ncamera preview", "", "icons_mici/settings/device/cameras.png") - driver_cam_btn.set_click_callback(self._show_driver_camera) + driver_cam_btn.set_click_callback(lambda: gui_app.push_widget(DriverCameraDialog())) driver_cam_btn.set_enabled(lambda: ui_state.is_offroad()) review_training_guide_btn = BigButton("review\ntraining guide", "", "icons_mici/settings/device/info.png") - review_training_guide_btn.set_click_callback(self._on_review_training_guide) + review_training_guide_btn.set_click_callback(lambda: gui_app.push_widget(TrainingGuide(completed_callback=gui_app.pop_widget))) review_training_guide_btn.set_enabled(lambda: ui_state.is_offroad()) self._scroller = Scroller([ @@ -322,16 +319,16 @@ class DeviceLayoutMici(NavWidget): PairBigButton(), review_training_guide_btn, driver_cam_btn, - # lang_button, reset_calibration_btn, uninstall_openpilot_btn, regulatory_btn, reboot_btn, self._power_off_btn, - ], snap_items=False) + ]) # Set up back navigation - self.set_back_callback(back_callback) + # TODO: can this somehow be generic in widgets/__init__.py or application.py? + self.set_back_callback(gui_app.pop_widget) # Hide power off button when onroad ui_state.add_offroad_transition_callback(self._offroad_transition) @@ -339,27 +336,18 @@ class DeviceLayoutMici(NavWidget): def _on_regulatory(self): if not self._fcc_dialog: self._fcc_dialog = MiciFccModal(os.path.join(BASEDIR, "selfdrive/assets/offroad/mici_fcc.html")) - gui_app.set_modal_overlay(self._fcc_dialog) + gui_app.push_widget(self._fcc_dialog) def _offroad_transition(self): self._power_off_btn.set_visible(ui_state.is_offroad()) - def _show_driver_camera(self): - if not self._driver_camera: - self._driver_camera = DriverCameraDialog() - gui_app.set_modal_overlay(self._driver_camera, callback=lambda result: setattr(self, '_driver_camera', None)) - - def _on_review_training_guide(self): - if not self._training_guide: - def completed_callback(): - gui_app.set_modal_overlay(None) - - self._training_guide = TrainingGuide(completed_callback=completed_callback) - gui_app.set_modal_overlay(self._training_guide, callback=lambda result: setattr(self, '_training_guide', None)) - def show_event(self): super().show_event() self._scroller.show_event() + def hide_event(self): + super().hide_event() + self._scroller.hide_event() + def _render(self, rect: rl.Rectangle): self._scroller.render(rect) diff --git a/selfdrive/ui/mici/layouts/settings/firehose.py b/selfdrive/ui/mici/layouts/settings/firehose.py index 78e516985..5b416a813 100644 --- a/selfdrive/ui/mici/layouts/settings/firehose.py +++ b/selfdrive/ui/mici/layouts/settings/firehose.py @@ -13,7 +13,8 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE from openpilot.system.ui.lib.wrap_text import wrap_text from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2 from openpilot.system.ui.lib.multilang import tr, trn, tr_noop -from openpilot.system.ui.widgets import Widget, NavWidget +from openpilot.system.ui.widgets import Widget +from openpilot.system.ui.widgets.nav_widget import NavWidget TITLE = tr_noop("Firehose Mode") DESCRIPTION = tr_noop( @@ -132,9 +133,6 @@ class FirehoseLayoutBase(Widget): y = self._draw_wrapped_text(x, y, w, tr(answer), gui_app.font(FontWeight.ROMAN), 32, self.LIGHT_GRAY) y += 20 - # return value not used by NavWidget - return -1 - def _draw_wrapped_text(self, x, y, width, text, font, font_size, color): wrapped = wrap_text(font, text, font_size, width) for line in wrapped: @@ -223,6 +221,6 @@ class FirehoseLayoutBase(Widget): class FirehoseLayout(FirehoseLayoutBase, NavWidget): BACK_TOUCH_AREA_PERCENTAGE = 0.1 - def __init__(self, back_callback): + def __init__(self): super().__init__() - self.set_back_callback(back_callback) + self.set_back_callback(gui_app.pop_widget) diff --git a/selfdrive/ui/mici/layouts/settings/network/__init__.py b/selfdrive/ui/mici/layouts/settings/network/__init__.py index fb1d56a1f..bdae92456 100644 --- a/selfdrive/ui/mici/layouts/settings/network/__init__.py +++ b/selfdrive/ui/mici/layouts/settings/network/__init__.py @@ -1,33 +1,73 @@ import pyray as rl -from enum import IntEnum -from collections.abc import Callable from openpilot.system.ui.widgets.scroller import Scroller -from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici, WifiIcon, normalize_ssid +from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici, WifiIcon from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigParamControl, BigToggle from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.selfdrive.ui.lib.prime_state import PrimeType from openpilot.system.ui.lib.application import gui_app -from openpilot.system.ui.widgets import NavWidget -from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, MeteredType +from openpilot.system.ui.widgets.nav_widget import NavWidget +from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, MeteredType, ConnectStatus, SecurityType, normalize_ssid -class NetworkPanelType(IntEnum): - NONE = 0 - WIFI = 1 +class WifiNetworkButton(BigButton): + def __init__(self, wifi_manager: WifiManager): + self._wifi_manager = wifi_manager + self._lock_txt = gui_app.texture("icons_mici/settings/network/new/lock.png", 28, 36) + self._draw_lock = False + + self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 64, 56) + self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 64, 47) + self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 64, 47) + self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 64, 47) + + super().__init__("wi-fi", "not connected", self._wifi_slash_txt, scroll=True) + + def _update_state(self): + super()._update_state() + + # Update wi-fi button with ssid and ip address + # TODO: make sure we handle hidden ssids + wifi_state = self._wifi_manager.wifi_state + display_network = next((n for n in self._wifi_manager.networks if n.ssid == wifi_state.ssid), None) + if wifi_state.status == ConnectStatus.CONNECTING: + self.set_text(normalize_ssid(wifi_state.ssid or "wi-fi")) + self.set_value("connecting...") + elif wifi_state.status == ConnectStatus.CONNECTED: + self.set_text(normalize_ssid(wifi_state.ssid or "wi-fi")) + self.set_value(self._wifi_manager.ipv4_address or "obtaining IP...") + else: + display_network = None + self.set_text("wi-fi") + self.set_value("not connected") + + if display_network is not None: + strength = WifiIcon.get_strength_icon_idx(display_network.strength) + self.set_icon(self._wifi_full_txt if strength == 2 else self._wifi_medium_txt if strength == 1 else self._wifi_low_txt) + self._draw_lock = display_network.security_type not in (SecurityType.OPEN, SecurityType.UNSUPPORTED) + else: + self.set_icon(self._wifi_slash_txt) + self._draw_lock = False + + def _draw_content(self, btn_y: float): + super()._draw_content(btn_y) + # Render lock icon at lower right of wifi icon if secured + if self._draw_lock: + icon_x = self._rect.x + self._rect.width - 30 - self._txt_icon.width + icon_y = btn_y + 30 + lock_x = icon_x + self._txt_icon.width - self._lock_txt.width + 7 + lock_y = icon_y + self._txt_icon.height - self._lock_txt.height + 8 + rl.draw_texture_ex(self._lock_txt, (lock_x, lock_y), 0.0, 1.0, rl.WHITE) class NetworkLayoutMici(NavWidget): - def __init__(self, back_callback: Callable): + def __init__(self): super().__init__() - self._current_panel = NetworkPanelType.WIFI - self.set_back_enabled(lambda: self._current_panel == NetworkPanelType.NONE) - self._wifi_manager = WifiManager() self._wifi_manager.set_active(False) - self._wifi_ui = WifiUIMici(self._wifi_manager, back_callback=lambda: self._switch_to_panel(NetworkPanelType.NONE)) + self._wifi_ui = WifiUIMici(self._wifi_manager) self._wifi_manager.add_callbacks( networks_updated=self._on_network_updated, @@ -36,6 +76,7 @@ class NetworkLayoutMici(NavWidget): # ******** Tethering ******** def tethering_toggle_callback(checked: bool): self._tethering_toggle_btn.set_enabled(False) + self._tethering_password_btn.set_enabled(False) self._network_metered_btn.set_enabled(False) self._wifi_manager.set_tethering_active(checked) @@ -43,13 +84,15 @@ class NetworkLayoutMici(NavWidget): def tethering_password_callback(password: str): if password: + self._tethering_toggle_btn.set_enabled(False) + self._tethering_password_btn.set_enabled(False) self._wifi_manager.set_tethering_password(password) def tethering_password_clicked(): tethering_password = self._wifi_manager.tethering_password dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8, confirm_callback=tethering_password_callback) - gui_app.set_modal_overlay(dlg) + gui_app.push_widget(dlg) txt_tethering = gui_app.texture("icons_mici/settings/network/tethering.png", 64, 54) self._tethering_password_btn = BigButton("tethering password", "", txt_tethering) @@ -70,13 +113,8 @@ class NetworkLayoutMici(NavWidget): self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback) self._network_metered_btn.set_enabled(False) - self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 64, 56) - self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 64, 47) - self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 64, 47) - self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 64, 47) - - self._wifi_button = BigButton("wi-fi", "not connected", self._wifi_slash_txt, scroll=True) - self._wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI)) + self._wifi_button = WifiNetworkButton(self._wifi_manager) + self._wifi_button.set_click_callback(lambda: gui_app.push_widget(self._wifi_ui)) # ******** Advanced settings ******** # ******** Roaming toggle ******** @@ -100,7 +138,7 @@ class NetworkLayoutMici(NavWidget): self._apn_btn, self._cellular_metered_btn, # */ - ], snap_items=False) + ]) # Set initial config roaming_enabled = ui_state.params.get_bool("GsmRoaming") @@ -108,7 +146,7 @@ class NetworkLayoutMici(NavWidget): self._wifi_manager.update_gsm_settings(roaming_enabled, ui_state.params.get("GsmApn") or "", metered) # Set up back navigation - self.set_back_callback(back_callback) + self.set_back_callback(gui_app.pop_widget) def _update_state(self): super()._update_state() @@ -122,13 +160,18 @@ class NetworkLayoutMici(NavWidget): def show_event(self): super().show_event() - self._current_panel = NetworkPanelType.NONE - self._wifi_ui.show_event() + self._wifi_manager.set_active(True) self._scroller.show_event() + # Process wifi callbacks while at any point in the nav stack + gui_app.set_nav_stack_tick(self._wifi_manager.process_callbacks) + def hide_event(self): super().hide_event() - self._wifi_ui.hide_event() + self._scroller.hide_event() + self._wifi_manager.set_active(False) + + gui_app.set_nav_stack_tick(None) def _toggle_roaming(self, checked: bool): self._wifi_manager.update_gsm_settings(checked, ui_state.params.get("GsmApn") or "", ui_state.params.get_bool("GsmMetered")) @@ -144,8 +187,8 @@ class NetworkLayoutMici(NavWidget): self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), apn, ui_state.params.get_bool("GsmMetered")) current_apn = ui_state.params.get("GsmApn") or "" - dlg = BigInputDialog("enter APN", current_apn, minimum_length=0, confirm_callback=update_apn) - gui_app.set_modal_overlay(dlg) + dlg = BigInputDialog("enter APN...", current_apn, minimum_length=0, confirm_callback=update_apn) + gui_app.push_widget(dlg) def _toggle_cellular_metered(self, checked: bool): self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), ui_state.params.get("GsmApn") or "", checked) @@ -155,26 +198,10 @@ class NetworkLayoutMici(NavWidget): tethering_active = self._wifi_manager.is_tethering_active() # TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons self._tethering_toggle_btn.set_enabled(True) + self._tethering_password_btn.set_enabled(True) self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address)) self._tethering_toggle_btn.set_checked(tethering_active) - # Update wi-fi button with ssid and ip address - # TODO: make sure we handle hidden ssids - connected_network = next((network for network in networks if network.is_connected), None) - self._wifi_button.set_text(normalize_ssid(connected_network.ssid) if connected_network is not None else "wi-fi") - self._wifi_button.set_value(self._wifi_manager.ipv4_address or "not connected") - if connected_network is not None: - strength = WifiIcon.get_strength_icon_idx(connected_network.strength) - if strength == 2: - strength_icon = self._wifi_full_txt - elif strength == 1: - strength_icon = self._wifi_medium_txt - else: - strength_icon = self._wifi_low_txt - self._wifi_button.set_icon(strength_icon) - else: - self._wifi_button.set_icon(self._wifi_slash_txt) - # Update network metered self._network_metered_btn.set_value( { @@ -183,15 +210,5 @@ class NetworkLayoutMici(NavWidget): MeteredType.NO: 'unmetered' }.get(self._wifi_manager.current_network_metered, 'default')) - def _switch_to_panel(self, panel_type: NetworkPanelType): - if panel_type == NetworkPanelType.WIFI: - self._wifi_ui.show_event() - self._current_panel = panel_type - def _render(self, rect: rl.Rectangle): - self._wifi_manager.process_callbacks() - - if self._current_panel == NetworkPanelType.WIFI: - self._wifi_ui.render(rect) - else: - self._scroller.render(rect) + self._scroller.render(rect) diff --git a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py index db68632c0..c69dc8b22 100644 --- a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py +++ b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py @@ -3,409 +3,334 @@ import numpy as np import pyray as rl from collections.abc import Callable +from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.swaglog import cloudlog -from openpilot.system.ui.widgets.label import UnifiedLabel -from openpilot.selfdrive.ui.mici.widgets.dialog import BigMultiOptionDialog, BigInputDialog, BigDialogOptionButton, BigConfirmationDialogV2 +from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog, BigConfirmationDialogV2 +from openpilot.selfdrive.ui.mici.widgets.button import BigButton, LABEL_COLOR, LABEL_HORIZONTAL_PADDING, LABEL_VERTICAL_PADDING from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight -from openpilot.system.ui.widgets import Widget, NavWidget -from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType - - -def normalize_ssid(ssid: str) -> str: - return ssid.replace("’", "'") # for iPhone hotspots +from openpilot.system.ui.widgets import Widget +from openpilot.system.ui.widgets.nav_widget import NavWidget +from openpilot.system.ui.widgets.scroller import Scroller +from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType, normalize_ssid class LoadingAnimation(Widget): - def _render(self, _): - cx = int(self._rect.x + 70) - cy = int(self._rect.y + self._rect.height / 2 - 50) + HIDE_TIME = 4 - y_mag = 20 - anim_scale = 5 - spacing = 28 + def __init__(self): + super().__init__() + self._opacity_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps) + self._opacity_target = 1.0 + self._hide_time = 0.0 + + def show_event(self): + self._opacity_target = 1.0 + self._hide_time = rl.get_time() + + def _render(self, _): + if rl.get_time() - self._hide_time > self.HIDE_TIME: + self._opacity_target = 0.0 + + self._opacity_filter.update(self._opacity_target) + + if self._opacity_filter.x < 0.01: + return + + cx = int(self._rect.x + self._rect.width / 2) + cy = int(self._rect.y + self._rect.height / 2) + + y_mag = 7 + anim_scale = 4 + spacing = 14 for i in range(3): x = cx - spacing + i * spacing y = int(cy + min(math.sin((rl.get_time() - i * 0.2) * anim_scale) * y_mag, 0)) - alpha = int(np.interp(cy - y, [0, y_mag], [255 * 0.45, 255 * 0.9])) - rl.draw_circle(x, y, 10, rl.Color(255, 255, 255, alpha)) + alpha = int(np.interp(cy - y, [0, y_mag], [255 * 0.45, 255 * 0.9]) * self._opacity_filter.x) + rl.draw_circle(x, y, 5, rl.Color(255, 255, 255, alpha)) class WifiIcon(Widget): - def __init__(self): + def __init__(self, network: Network): super().__init__() - self.set_rect(rl.Rectangle(0, 0, 86, 64)) + self.set_rect(rl.Rectangle(0, 0, 48 + 5, 36 + 5)) - self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 86, 64) - self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 86, 64) - self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 86, 64) - self._lock_txt = gui_app.texture("icons_mici/settings/network/new/lock.png", 22, 32) + self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 48, 42) + self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 48, 36) + self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 48, 36) + self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 48, 36) + self._lock_txt = gui_app.texture("icons_mici/settings/network/new/lock.png", 21, 27) - self._network: Network | None = None - self._scale = 1.0 + self._network: Network = network + self._network_missing = False # if network disappeared from scan results - def set_current_network(self, network: Network): + def update_network(self, network: Network): self._network = network - def set_scale(self, scale: float): - self._scale = scale + def set_network_missing(self, missing: bool): + self._network_missing = missing @staticmethod def get_strength_icon_idx(strength: int) -> int: return round(strength / 100 * 2) def _render(self, _): - if self._network is None: - return - # Determine which wifi strength icon to use strength = self.get_strength_icon_idx(self._network.strength) - if strength == 2: + if self._network_missing: + strength_icon = self._wifi_slash_txt + elif strength == 2: strength_icon = self._wifi_full_txt elif strength == 1: strength_icon = self._wifi_medium_txt else: strength_icon = self._wifi_low_txt - icon_x = int(self._rect.x + (self._rect.width - strength_icon.width * self._scale) // 2) - icon_y = int(self._rect.y + (self._rect.height - strength_icon.height * self._scale) // 2) - rl.draw_texture_ex(strength_icon, (icon_x, icon_y), 0.0, self._scale, rl.WHITE) + rl.draw_texture_ex(strength_icon, (self._rect.x, self._rect.y + self._rect.height - strength_icon.height), 0.0, 1.0, rl.WHITE) # Render lock icon at lower right of wifi icon if secured if self._network.security_type not in (SecurityType.OPEN, SecurityType.UNSUPPORTED): - lock_scale = self._scale * 1.1 - lock_x = int(icon_x + 1 + strength_icon.width * self._scale - self._lock_txt.width * lock_scale / 2) - lock_y = int(icon_y + 1 + strength_icon.height * self._scale - self._lock_txt.height * lock_scale / 2) - rl.draw_texture_ex(self._lock_txt, (lock_x, lock_y), 0.0, lock_scale, rl.WHITE) + lock_x = self._rect.x + self._rect.width - self._lock_txt.width + lock_y = self._rect.y + self._rect.height - self._lock_txt.height + 6 + rl.draw_texture_ex(self._lock_txt, (lock_x, lock_y), 0.0, 1.0, rl.WHITE) -class WifiItem(BigDialogOptionButton): - LEFT_MARGIN = 20 +class WifiButton(BigButton): + LABEL_PADDING = 98 + LABEL_WIDTH = 402 - 98 - 28 # button width - left padding - right padding + SUB_LABEL_WIDTH = 402 - LABEL_HORIZONTAL_PADDING * 2 - def __init__(self, network: Network): - super().__init__(network.ssid) - - self.set_rect(rl.Rectangle(0, 0, gui_app.width, self.HEIGHT)) - - self._selected_txt = gui_app.texture("icons_mici/settings/network/new/wifi_selected.png", 48, 96) + def __init__(self, network: Network, wifi_manager: WifiManager): + super().__init__(normalize_ssid(network.ssid), scroll=True) self._network = network - self._wifi_icon = WifiIcon() - self._wifi_icon.set_current_network(network) + self._wifi_manager = wifi_manager - def set_current_network(self, network: Network): + self._wifi_icon = WifiIcon(network) + self._forget_btn = ForgetButton(self._forget_network) + self._check_txt = gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 32, 32) + + # Eager state (not sourced from Network) + self._network_missing = False + self._network_forgetting = False + self._wrong_password = False + + def update_network(self, network: Network): self._network = network - self._wifi_icon.set_current_network(network) + self._wifi_icon.update_network(network) - def _render(self, _): - if self._network.is_connected: - selected_x = int(self._rect.x - self._selected_txt.width / 2) - selected_y = int(self._rect.y + (self._rect.height - self._selected_txt.height) / 2) - rl.draw_texture(self._selected_txt, selected_x, selected_y, rl.WHITE) + # We can assume network is not missing if got new Network + self._network_missing = False + self._wifi_icon.set_network_missing(False) + if self._is_connected or self._is_connecting: + self._wrong_password = False - self._wifi_icon.set_scale((1.0 if self._selected else 0.65) * 0.7) - self._wifi_icon.render(rl.Rectangle( - self._rect.x + self.LEFT_MARGIN, - self._rect.y, - self.SELECTED_HEIGHT, - self._rect.height - )) + def _forget_network(self): + if self._network_forgetting: + return - if self._selected: - self._label.set_font_size(self.SELECTED_HEIGHT) - self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.9))) - self._label.set_font_weight(FontWeight.DISPLAY) - else: - self._label.set_font_size(self.HEIGHT) - self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.58))) - self._label.set_font_weight(FontWeight.DISPLAY_REGULAR) + self._network_forgetting = True + self._forget_btn.set_visible(False) + self._wifi_manager.forget_connection(self._network.ssid) - label_offset = self.LEFT_MARGIN + self._wifi_icon.rect.width + 20 - label_rect = rl.Rectangle(self._rect.x + label_offset, self._rect.y, self._rect.width - label_offset, self._rect.height) - self._label.set_text(normalize_ssid(self._network.ssid)) - self._label.render(label_rect) + def on_forgotten(self): + self._network_forgetting = False + self._forget_btn.set_visible(True) + def set_network_missing(self, missing: bool): + self._network_missing = missing + self._wifi_icon.set_network_missing(missing) -class ConnectButton(Widget): - def __init__(self): - super().__init__() - self._bg_txt = gui_app.texture("icons_mici/settings/network/new/connect_button.png", 410, 100) - self._bg_pressed_txt = gui_app.texture("icons_mici/settings/network/new/connect_button_pressed.png", 410, 100) - self._bg_full_txt = gui_app.texture("icons_mici/settings/network/new/full_connect_button.png", 520, 100) - self._bg_full_pressed_txt = gui_app.texture("icons_mici/settings/network/new/full_connect_button_pressed.png", 520, 100) - - self._full: bool = False - - self._label = UnifiedLabel("", 36, FontWeight.MEDIUM, rl.Color(255, 255, 255, int(255 * 0.9)), - alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, - alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE) + def set_wrong_password(self): + self._wrong_password = True + self.trigger_shake() @property - def full(self) -> bool: - return self._full + def network(self) -> Network: + return self._network - def set_full(self, full: bool): - self._full = full - self.set_rect(rl.Rectangle(0, 0, 520 if self._full else 410, 100)) + @property + def _show_forget_btn(self): + if self._network.is_tethering: + return False - def set_label(self, text: str): - self._label.set_text(text) + return (self._is_saved and not self._wrong_password) or self._is_connecting - def _render(self, _): - if self._full: - bg_txt = self._bg_full_pressed_txt if self.is_pressed and self.enabled else self._bg_full_txt - else: - bg_txt = self._bg_pressed_txt if self.is_pressed and self.enabled else self._bg_txt + def _handle_mouse_release(self, mouse_pos: MousePos): + if self._show_forget_btn and rl.check_collision_point_rec(mouse_pos, self._forget_btn.rect): + return + super()._handle_mouse_release(mouse_pos) - rl.draw_texture(bg_txt, int(self._rect.x), int(self._rect.y), rl.WHITE) + def _get_label_font_size(self): + return 48 - self._label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.9) if self.enabled else int(255 * 0.9 * 0.65))) - self._label.render(self._rect) + def _draw_content(self, btn_y: float): + self._label.set_color(LABEL_COLOR) + label_rect = rl.Rectangle(self._rect.x + self.LABEL_PADDING, btn_y + LABEL_VERTICAL_PADDING, + self.LABEL_WIDTH, self._rect.height - LABEL_VERTICAL_PADDING * 2) + self._label.render(label_rect) + + if self.value: + sub_label_x = self._rect.x + LABEL_HORIZONTAL_PADDING + label_y = btn_y + self._rect.height - LABEL_VERTICAL_PADDING + sub_label_w = self.SUB_LABEL_WIDTH - (self._forget_btn.rect.width if self._show_forget_btn else 0) + sub_label_height = self._sub_label.get_content_height(sub_label_w) + + if self._is_connected and not self._network_forgetting: + check_y = int(label_y - sub_label_height + (sub_label_height - self._check_txt.height) / 2) + rl.draw_texture(self._check_txt, int(sub_label_x), check_y, rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))) + sub_label_x += self._check_txt.width + 14 + + sub_label_rect = rl.Rectangle(sub_label_x, label_y - sub_label_height, sub_label_w, sub_label_height) + self._sub_label.render(sub_label_rect) + + # Wifi icon + self._wifi_icon.render(rl.Rectangle( + self._rect.x + 30, + btn_y + 30, + self._wifi_icon.rect.width, + self._wifi_icon.rect.height, + )) + + # Forget button + if self._show_forget_btn: + self._forget_btn.render(rl.Rectangle( + self._rect.x + self._rect.width - self._forget_btn.rect.width, + btn_y + self._rect.height - self._forget_btn.rect.height, + self._forget_btn.rect.width, + self._forget_btn.rect.height, + )) + + def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None: + super().set_touch_valid_callback(lambda: touch_callback() and not self._forget_btn.is_pressed) + self._forget_btn.set_touch_valid_callback(touch_callback) + + @property + def _is_saved(self): + return self._wifi_manager.is_connection_saved(self._network.ssid) + + @property + def _is_connecting(self): + return self._wifi_manager.connecting_to_ssid == self._network.ssid + + @property + def _is_connected(self): + return self._wifi_manager.connected_ssid == self._network.ssid + + def _update_state(self): + if any((self._network_missing, self._is_connecting, self._is_connected, self._network_forgetting, + self._network.security_type == SecurityType.UNSUPPORTED)): + self.set_enabled(False) + self._sub_label.set_color(rl.Color(255, 255, 255, int(255 * 0.585))) + self._sub_label.set_font_weight(FontWeight.ROMAN) + + if self._network_forgetting: + self.set_value("forgetting...") + elif self._is_connecting: + self.set_value("connecting...") + elif self._is_connected: + self.set_value("connected") + elif self._network_missing: + # after connecting/connected since NM will still attempt to connect/stay connected for a while + self.set_value("not in range") + else: + self.set_value("unsupported") + + else: # saved, wrong password, or unknown + self.set_value("wrong password" if self._wrong_password else "connect") + self.set_enabled(True) + self._sub_label.set_color(rl.Color(255, 255, 255, int(255 * 0.9))) + self._sub_label.set_font_weight(FontWeight.SEMI_BOLD) class ForgetButton(Widget): - HORIZONTAL_MARGIN = 8 + MARGIN = 12 # bottom and right - def __init__(self, forget_network: Callable, open_network_manage_page): + def __init__(self, forget_network: Callable): super().__init__() self._forget_network = forget_network - self._open_network_manage_page = open_network_manage_page - self._bg_txt = gui_app.texture("icons_mici/settings/network/new/forget_button.png", 100, 100) - self._bg_pressed_txt = gui_app.texture("icons_mici/settings/network/new/forget_button_pressed.png", 100, 100) - self._trash_txt = gui_app.texture("icons_mici/settings/network/new/trash.png", 35, 42) - self.set_rect(rl.Rectangle(0, 0, 100 + self.HORIZONTAL_MARGIN * 2, 100)) + self._bg_txt = gui_app.texture("icons_mici/settings/network/new/forget_button.png", 84, 84) + self._bg_pressed_txt = gui_app.texture("icons_mici/settings/network/new/forget_button_pressed.png", 84, 84) + self._trash_txt = gui_app.texture("icons_mici/settings/network/new/trash.png", 29, 35) + self.set_rect(rl.Rectangle(0, 0, 84 + self.MARGIN * 2, 84 + self.MARGIN * 2)) def _handle_mouse_release(self, mouse_pos: MousePos): super()._handle_mouse_release(mouse_pos) dlg = BigConfirmationDialogV2("slide to forget", "icons_mici/settings/network/new/trash.png", red=True, confirm_callback=self._forget_network) - gui_app.set_modal_overlay(dlg, callback=self._open_network_manage_page) + gui_app.push_widget(dlg) def _render(self, _): bg_txt = self._bg_pressed_txt if self.is_pressed else self._bg_txt - rl.draw_texture(bg_txt, int(self._rect.x + self.HORIZONTAL_MARGIN), int(self._rect.y), rl.WHITE) + rl.draw_texture_ex(bg_txt, (self._rect.x + (self._rect.width - self._bg_txt.width) / 2, + self._rect.y + (self._rect.height - self._bg_txt.height) / 2), 0, 1.0, rl.WHITE) - trash_x = int(self._rect.x + (self._rect.width - self._trash_txt.width) // 2) - trash_y = int(self._rect.y + (self._rect.height - self._trash_txt.height) // 2) - rl.draw_texture(self._trash_txt, trash_x, trash_y, rl.WHITE) + trash_x = self._rect.x + (self._rect.width - self._trash_txt.width) / 2 + trash_y = self._rect.y + (self._rect.height - self._trash_txt.height) / 2 + rl.draw_texture_ex(self._trash_txt, (trash_x, trash_y), 0, 1.0, rl.WHITE) -class NetworkInfoPage(NavWidget): - def __init__(self, wifi_manager, connect_callback: Callable, forget_callback: Callable, open_network_manage_page: Callable): +class WifiUIMici(NavWidget): + def __init__(self, wifi_manager: WifiManager): super().__init__() - self._wifi_manager = wifi_manager - - self.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) - - self._wifi_icon = WifiIcon() - self._forget_btn = ForgetButton(lambda: forget_callback(self._network.ssid) if self._network is not None else None, - open_network_manage_page) - self._connect_btn = ConnectButton() - self._connect_btn.set_click_callback(lambda: connect_callback(self._network.ssid) if self._network is not None else None) - - self._title = UnifiedLabel("", 64, FontWeight.DISPLAY, rl.Color(255, 255, 255, int(255 * 0.9)), - alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, scroll=True) - self._subtitle = UnifiedLabel("", 36, FontWeight.ROMAN, rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)), - alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE) - - self.set_back_callback(lambda: gui_app.set_modal_overlay(None)) - - # State - self._network: Network | None = None - self._connecting: Callable[[], str | None] | None = None - - def show_event(self): - super().show_event() - self._title.reset_scroll() - - def update_networks(self, networks: dict[str, Network]): - # update current network from latest scan results - for ssid, network in networks.items(): - if self._network is not None and ssid == self._network.ssid: - self.set_current_network(network) - break - else: - # network disappeared, close page - gui_app.set_modal_overlay(None) - - def _update_state(self): - super()._update_state() - # Modal overlays stop main UI rendering, so we need to call here - self._wifi_manager.process_callbacks() - - if self._network is None: - return - - self._connect_btn.set_full(not self._network.is_saved and not self._is_connecting) - if self._is_connecting: - self._connect_btn.set_label("connecting...") - self._connect_btn.set_enabled(False) - elif self._network.is_connected: - self._connect_btn.set_label("connected") - self._connect_btn.set_enabled(False) - elif self._network.security_type == SecurityType.UNSUPPORTED: - self._connect_btn.set_label("connect") - self._connect_btn.set_enabled(False) - else: # saved or unknown - self._connect_btn.set_label("connect") - self._connect_btn.set_enabled(True) - - self._title.set_text(normalize_ssid(self._network.ssid)) - if self._network.security_type == SecurityType.OPEN: - self._subtitle.set_text("open") - elif self._network.security_type == SecurityType.UNSUPPORTED: - self._subtitle.set_text("unsupported") - else: - self._subtitle.set_text("secured") - - def set_current_network(self, network: Network): - self._network = network - self._wifi_icon.set_current_network(network) - - def set_connecting(self, is_connecting: Callable[[], str | None]): - self._connecting = is_connecting - - @property - def _is_connecting(self): - if self._connecting is None or self._network is None: - return False - is_connecting = self._connecting() == self._network.ssid - return is_connecting - - def _render(self, _): - self._wifi_icon.render(rl.Rectangle( - self._rect.x + 32, - self._rect.y + (self._rect.height - self._connect_btn.rect.height - self._wifi_icon.rect.height) / 2, - self._wifi_icon.rect.width, - self._wifi_icon.rect.height, - )) - - self._title.render(rl.Rectangle( - self._rect.x + self._wifi_icon.rect.width + 32 + 32, - self._rect.y + 32 - 16, - self._rect.width - (self._wifi_icon.rect.width + 32 + 32), - 64, - )) - - self._subtitle.render(rl.Rectangle( - self._rect.x + self._wifi_icon.rect.width + 32 + 32, - self._rect.y + 32 + 64 - 16, - self._rect.width - (self._wifi_icon.rect.width + 32 + 32), - 48, - )) - - self._connect_btn.render(rl.Rectangle( - self._rect.x + 8, - self._rect.y + self._rect.height - self._connect_btn.rect.height, - self._connect_btn.rect.width, - self._connect_btn.rect.height, - )) - - if not self._connect_btn.full: - self._forget_btn.render(rl.Rectangle( - self._rect.x + self._rect.width - self._forget_btn.rect.width, - self._rect.y + self._rect.height - self._forget_btn.rect.height, - self._forget_btn.rect.width, - self._forget_btn.rect.height, - )) - - return -1 - - -class WifiUIMici(BigMultiOptionDialog): - # Wait this long after user interacts with widget to update network list - INACTIVITY_TIMEOUT = 1 - - def __init__(self, wifi_manager: WifiManager, back_callback: Callable): - super().__init__([], None) # Set up back navigation - self.set_back_callback(back_callback) + self.set_back_callback(gui_app.pop_widget) - self._network_info_page = NetworkInfoPage(wifi_manager, self._connect_to_network, self._forget_network, self._open_network_manage_page) - self._network_info_page.set_connecting(lambda: self._connecting) + self._scroller = Scroller([]) self._loading_animation = LoadingAnimation() self._wifi_manager = wifi_manager - self._connecting: str | None = None self._networks: dict[str, Network] = {} - # widget state - self._last_interaction_time = -float('inf') - self._restore_selection = False - self._wifi_manager.add_callbacks( need_auth=self._on_need_auth, - activated=self._on_activated, forgotten=self._on_forgotten, networks_updated=self._on_network_updated, - disconnected=self._on_disconnected, ) def show_event(self): - # Call super to prepare scroller; selection scroll is handled dynamically + # Clear scroller items and update from latest scan results super().show_event() + self._scroller.show_event() + self._loading_animation.show_event() self._wifi_manager.set_active(True) - self._last_interaction_time = -float('inf') + self._scroller.items.clear() + # trigger button update on latest sorted networks + self._on_network_updated(self._wifi_manager.networks) def hide_event(self): super().hide_event() - self._wifi_manager.set_active(False) - - def _open_network_manage_page(self, result=None): - self._network_info_page.update_networks(self._networks) - gui_app.set_modal_overlay(self._network_info_page) - - def _forget_network(self, ssid: str): - network = self._networks.get(ssid) - if network is None: - cloudlog.warning(f"Trying to forget unknown network: {ssid}") - return - - self._wifi_manager.forget_connection(network.ssid) + self._scroller.hide_event() def _on_network_updated(self, networks: list[Network]): self._networks = {network.ssid: network for network in networks} self._update_buttons() - self._network_info_page.update_networks(self._networks) def _update_buttons(self): - # Don't update buttons while user is actively interacting - if rl.get_time() - self._last_interaction_time < self.INACTIVITY_TIMEOUT: - return + # Update existing buttons, add new ones to the end + existing = {btn.network.ssid: btn for btn in self._scroller.items if isinstance(btn, WifiButton)} for network in self._networks.values(): - # pop and re-insert to eliminate stuttering on update (prevents position lost for a frame) - network_button_idx = next((i for i, btn in enumerate(self._scroller._items) if btn.option == network.ssid), None) - if network_button_idx is not None: - network_button = self._scroller._items.pop(network_button_idx) - # Update network on existing button - network_button.set_current_network(network) + if network.ssid in existing: + existing[network.ssid].update_network(network) else: - network_button = WifiItem(network) + btn = WifiButton(network, self._wifi_manager) + btn.set_click_callback(lambda ssid=network.ssid: self._connect_to_network(ssid)) + self._scroller.add_widget(btn) - self._scroller.add_widget(network_button) + # Mark networks no longer in scan results (display handled by _update_state) + for btn in self._scroller.items: + if isinstance(btn, WifiButton) and btn.network.ssid not in self._networks: + btn.set_network_missing(True) - # remove networks no longer present - self._scroller._items[:] = [btn for btn in self._scroller._items if btn.option in self._networks] - - # try to restore previous selection to prevent jumping from adding/removing/reordering buttons - self._restore_selection = True + self._move_network_to_front(self._wifi_manager.wifi_state.ssid) def _connect_with_password(self, ssid: str, password: str): - if password: - self._connecting = ssid - self._wifi_manager.connect_to_network(ssid, password) - self._update_buttons() - - def _on_option_selected(self, option: str): - super()._on_option_selected(option) - - if option in self._networks: - self._network_info_page.set_current_network(self._networks[option]) - self._open_network_manage_page() + self._wifi_manager.connect_to_network(ssid, password) + self._move_network_to_front(ssid, scroll=True) def _connect_to_network(self, ssid: str): network = self._networks.get(ssid) @@ -413,47 +338,60 @@ class WifiUIMici(BigMultiOptionDialog): cloudlog.warning(f"Trying to connect to unknown network: {ssid}") return - if network.is_saved: - self._connecting = network.ssid + if self._wifi_manager.is_connection_saved(network.ssid): self._wifi_manager.activate_connection(network.ssid) - self._update_buttons() elif network.security_type == SecurityType.OPEN: - self._connecting = network.ssid self._wifi_manager.connect_to_network(network.ssid, "") - self._update_buttons() else: self._on_need_auth(network.ssid, False) + return + + self._move_network_to_front(ssid, scroll=True) def _on_need_auth(self, ssid, incorrect_password=True): - hint = "incorrect password..." if incorrect_password else "enter password..." - dlg = BigInputDialog(hint, "", minimum_length=8, + if incorrect_password: + for btn in self._scroller.items: + if isinstance(btn, WifiButton) and btn.network.ssid == ssid: + btn.set_wrong_password() + break + return + + dlg = BigInputDialog("enter password...", "", minimum_length=8, confirm_callback=lambda _password: self._connect_with_password(ssid, _password)) - # go back to the manage network page - gui_app.set_modal_overlay(dlg, self._open_network_manage_page) + gui_app.push_widget(dlg) - def _on_activated(self): - self._connecting = None + def _on_forgotten(self, ssid): + # For eager UI forget + for btn in self._scroller.items: + if isinstance(btn, WifiButton) and btn.network.ssid == ssid: + btn.on_forgotten() - def _on_forgotten(self): - self._connecting = None + def _move_network_to_front(self, ssid: str | None, scroll: bool = False): + # Move connecting/connected network to the front with animation + front_btn_idx = next((i for i, btn in enumerate(self._scroller.items) + if isinstance(btn, WifiButton) and + btn.network.ssid == ssid), None) if ssid else None - def _on_disconnected(self): - self._connecting = None + if front_btn_idx is not None and front_btn_idx > 0: + self._scroller.move_item(front_btn_idx, 0) + + if scroll: + # Scroll to the new position of the network + self._scroller.scroll_to(self._scroller.scroll_panel.get_offset(), smooth=True) def _update_state(self): super()._update_state() - if self.is_pressed: - self._last_interaction_time = rl.get_time() + + # Show loading animation near end + max_scroll = max(self._scroller.content_size - self._scroller.rect.width, 1) + progress = -self._scroller.scroll_panel.get_offset() / max_scroll + if progress > 0.8 or len(self._scroller.items) <= 1: + self._loading_animation.show_event() def _render(self, _): - # Update Scroller layout and restore current selection whenever buttons are updated, before first render - current_selection = self.get_selected_option() - if self._restore_selection and current_selection in self._networks: - self._scroller._layout() - BigMultiOptionDialog._on_option_selected(self, current_selection) - self._restore_selection = None + self._scroller.render(self._rect) - super()._render(_) - - if not self._networks: - self._loading_animation.render(self._rect) + anim_w = 90 + anim_x = self._rect.x + self._rect.width - anim_w + anim_y = self._rect.y + self._rect.height - 25 + 2 + self._loading_animation.render(rl.Rectangle(anim_x, anim_y, anim_w, 20)) diff --git a/selfdrive/ui/mici/layouts/settings/settings.py b/selfdrive/ui/mici/layouts/settings/settings.py index a6f59a038..15fd68199 100644 --- a/selfdrive/ui/mici/layouts/settings/settings.py +++ b/selfdrive/ui/mici/layouts/settings/settings.py @@ -1,7 +1,4 @@ import pyray as rl -from dataclasses import dataclass -from enum import IntEnum -from collections.abc import Callable from openpilot.common.params import Params from openpilot.system.ui.widgets.scroller import Scroller @@ -12,22 +9,7 @@ from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici from openpilot.selfdrive.ui.mici.layouts.settings.developer import DeveloperLayoutMici from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayout from openpilot.system.ui.lib.application import gui_app, FontWeight -from openpilot.system.ui.widgets import Widget, NavWidget - - -class PanelType(IntEnum): - TOGGLES = 0 - NETWORK = 1 - DEVICE = 2 - DEVELOPER = 3 - USER_MANUAL = 4 - FIREHOSE = 5 - - -@dataclass -class PanelInfo: - name: str - instance: Widget +from openpilot.system.ui.widgets.nav_widget import NavWidget class SettingsBigButton(BigButton): @@ -39,19 +21,26 @@ class SettingsLayout(NavWidget): def __init__(self): super().__init__() self._params = Params() - self._current_panel = None # PanelType.DEVICE + toggles_panel = TogglesLayoutMici() toggles_btn = SettingsBigButton("toggles", "", "icons_mici/settings.png") - toggles_btn.set_click_callback(lambda: self._set_current_panel(PanelType.TOGGLES)) - network_btn = SettingsBigButton("network", "", "icons_mici/settings/network/wifi_strength_full.png", icon_size=(76, 56)) - network_btn.set_click_callback(lambda: self._set_current_panel(PanelType.NETWORK)) - device_btn = SettingsBigButton("device", "", "icons_mici/settings/device_icon.png", icon_size=(74, 60)) - device_btn.set_click_callback(lambda: self._set_current_panel(PanelType.DEVICE)) - developer_btn = SettingsBigButton("developer", "", "icons_mici/settings/developer_icon.png", icon_size=(64, 60)) - developer_btn.set_click_callback(lambda: self._set_current_panel(PanelType.DEVELOPER)) + toggles_btn.set_click_callback(lambda: gui_app.push_widget(toggles_panel)) + network_panel = NetworkLayoutMici() + network_btn = SettingsBigButton("network", "", "icons_mici/settings/network/wifi_strength_full.png", icon_size=(76, 56)) + network_btn.set_click_callback(lambda: gui_app.push_widget(network_panel)) + + device_panel = DeviceLayoutMici() + device_btn = SettingsBigButton("device", "", "icons_mici/settings/device_icon.png", icon_size=(74, 60)) + device_btn.set_click_callback(lambda: gui_app.push_widget(device_panel)) + + developer_panel = DeveloperLayoutMici() + developer_btn = SettingsBigButton("developer", "", "icons_mici/settings/developer_icon.png", icon_size=(64, 60)) + developer_btn.set_click_callback(lambda: gui_app.push_widget(developer_panel)) + + firehose_panel = FirehoseLayout() firehose_btn = SettingsBigButton("firehose", "", "icons_mici/settings/firehose.png", icon_size=(52, 62)) - firehose_btn.set_click_callback(lambda: self._set_current_panel(PanelType.FIREHOSE)) + firehose_btn.set_click_callback(lambda: gui_app.push_widget(firehose_panel)) self._scroller = Scroller([ toggles_btn, @@ -61,58 +50,20 @@ class SettingsLayout(NavWidget): #BigDialogButton("manual", "", "icons_mici/settings/manual_icon.png", "Check out the mici user\nmanual at comma.ai/setup"), firehose_btn, developer_btn, - ], snap_items=False) + ]) # Set up back navigation - self.set_back_callback(self.close_settings) - self.set_back_enabled(lambda: self._current_panel is None) - - self._panels = { - PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayoutMici(back_callback=lambda: self._set_current_panel(None))), - PanelType.NETWORK: PanelInfo("Network", NetworkLayoutMici(back_callback=lambda: self._set_current_panel(None))), - PanelType.DEVICE: PanelInfo("Device", DeviceLayoutMici(back_callback=lambda: self._set_current_panel(None))), - PanelType.DEVELOPER: PanelInfo("Developer", DeveloperLayoutMici(back_callback=lambda: self._set_current_panel(None))), - PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout(back_callback=lambda: self._set_current_panel(None))), - } + self.set_back_callback(gui_app.pop_widget) self._font_medium = gui_app.font(FontWeight.MEDIUM) - # Callbacks - self._close_callback: Callable | None = None - def show_event(self): super().show_event() - self._set_current_panel(None) self._scroller.show_event() - if self._current_panel is not None: - self._panels[self._current_panel].instance.show_event() def hide_event(self): super().hide_event() - if self._current_panel is not None: - self._panels[self._current_panel].instance.hide_event() - - def set_callbacks(self, on_close: Callable): - self._close_callback = on_close + self._scroller.hide_event() def _render(self, rect: rl.Rectangle): - if self._current_panel is not None: - self._draw_current_panel() - else: - self._scroller.render(rect) - - def _draw_current_panel(self): - panel = self._panels[self._current_panel] - panel.instance.render(self._rect) - - def _set_current_panel(self, panel_type: PanelType | None): - if panel_type != self._current_panel: - if self._current_panel is not None: - self._panels[self._current_panel].instance.hide_event() - self._current_panel = panel_type - if self._current_panel is not None: - self._panels[self._current_panel].instance.show_event() - - def close_settings(self): - if self._close_callback: - self._close_callback() + self._scroller.render(rect) diff --git a/selfdrive/ui/mici/layouts/settings/toggles.py b/selfdrive/ui/mici/layouts/settings/toggles.py index 1266311a1..2e8129aae 100644 --- a/selfdrive/ui/mici/layouts/settings/toggles.py +++ b/selfdrive/ui/mici/layouts/settings/toggles.py @@ -1,11 +1,10 @@ import pyray as rl -from collections.abc import Callable from cereal import log from openpilot.system.ui.widgets.scroller import Scroller from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl, BigMultiParamToggle from openpilot.system.ui.lib.application import gui_app -from openpilot.system.ui.widgets import NavWidget +from openpilot.system.ui.widgets.nav_widget import NavWidget from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback from openpilot.selfdrive.ui.ui_state import ui_state @@ -13,9 +12,9 @@ PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants class TogglesLayoutMici(NavWidget): - def __init__(self, back_callback: Callable): + def __init__(self): super().__init__() - self.set_back_callback(back_callback) + self.set_back_callback(gui_app.pop_widget) self._personality_toggle = BigMultiParamToggle("driving personality", "LongitudinalPersonality", ["aggressive", "standard", "relaxed"]) self._experimental_btn = BigParamControl("experimental mode", "ExperimentalMode") @@ -35,7 +34,7 @@ class TogglesLayoutMici(NavWidget): record_front, record_mic, enable_openpilot, - ], snap_items=False) + ]) # Toggle lists self._refresh_toggles = ( @@ -72,6 +71,10 @@ class TogglesLayoutMici(NavWidget): self._scroller.show_event() self._update_toggles() + def hide_event(self): + super().hide_event() + self._scroller.hide_event() + def _update_toggles(self): ui_state.update_params() diff --git a/selfdrive/ui/mici/onroad/alert_renderer.py b/selfdrive/ui/mici/onroad/alert_renderer.py index b7a336a35..344c955c3 100644 --- a/selfdrive/ui/mici/onroad/alert_renderer.py +++ b/selfdrive/ui/mici/onroad/alert_renderer.py @@ -112,9 +112,9 @@ class AlertRenderer(Widget): def _load_icons(self): self._txt_turn_signal_left = gui_app.texture('icons_mici/onroad/turn_signal_left.png', 104, 96) - self._txt_turn_signal_right = gui_app.texture('icons_mici/onroad/turn_signal_right.png', 104, 96) + self._txt_turn_signal_right = gui_app.texture('icons_mici/onroad/turn_signal_left.png', 104, 96, flip_x=True) self._txt_blind_spot_left = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 134, 150) - self._txt_blind_spot_right = gui_app.texture('icons_mici/onroad/blind_spot_right.png', 134, 150) + self._txt_blind_spot_right = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 134, 150, flip_x=True) def get_alert(self, sm: messaging.SubMaster) -> Alert | None: """Generate the current alert based on selfdrive state.""" diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py index f8aee7969..3d02be292 100644 --- a/selfdrive/ui/mici/onroad/augmented_road_view.py +++ b/selfdrive/ui/mici/onroad/augmented_road_view.py @@ -375,7 +375,7 @@ class AugmentedRoadView(CameraView): if __name__ == "__main__": gui_app.init_window("OnRoad Camera View") - road_camera_view = AugmentedRoadView(ROAD_CAM) + road_camera_view = AugmentedRoadView(lambda: None, stream_type=ROAD_CAM) print("***press space to switch camera view***") try: for _ in gui_app.render(): diff --git a/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/selfdrive/ui/mici/onroad/driver_camera_dialog.py index bab3d6e6f..4fddc88f6 100644 --- a/selfdrive/ui/mici/onroad/driver_camera_dialog.py +++ b/selfdrive/ui/mici/onroad/driver_camera_dialog.py @@ -7,7 +7,7 @@ from openpilot.selfdrive.ui.ui_state import ui_state, device from openpilot.selfdrive.selfdrived.events import EVENTS, ET from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.multilang import tr -from openpilot.system.ui.widgets import NavWidget +from openpilot.system.ui.widgets.nav_widget import NavWidget from openpilot.system.ui.widgets.label import gui_label EventName = log.OnroadEvent.EventName @@ -34,8 +34,8 @@ class DriverCameraDialog(NavWidget): self._pm: messaging.PubMaster | None = None if not no_escape: # TODO: this can grow unbounded, should be given some thought - device.add_interactive_timeout_callback(lambda: gui_app.set_modal_overlay(None)) - self.set_back_callback(lambda: gui_app.set_modal_overlay(None)) + device.add_interactive_timeout_callback(gui_app.pop_widget) + self.set_back_callback(gui_app.pop_widget) self.set_back_enabled(not no_escape) # Load eye icons @@ -87,7 +87,7 @@ class DriverCameraDialog(NavWidget): alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) rl.end_scissor_mode() self._publish_alert_sound(None) - return -1 + return driver_data = self._draw_face_detection(rect) if driver_data is not None: @@ -105,7 +105,7 @@ class DriverCameraDialog(NavWidget): self._render_dm_alerts(rect) rl.end_scissor_mode() - return -1 + return def _publish_alert_sound(self, dm_state): """Publish selfdriveState with only alertSound field set""" @@ -235,9 +235,9 @@ if __name__ == "__main__": gui_app.init_window("Driver Camera View (mici)") driver_camera_view = DriverCameraDialog() + gui_app.push_widget(driver_camera_view) try: for _ in gui_app.render(): ui_state.update() - driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) finally: driver_camera_view.close() diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/selfdrive/ui/mici/onroad/hud_renderer.py index 659d13fad..ccf32023e 100644 --- a/selfdrive/ui/mici/onroad/hud_renderer.py +++ b/selfdrive/ui/mici/onroad/hud_renderer.py @@ -50,7 +50,7 @@ class TurnIntent(Widget): self._turn_intent_rotation_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps) self._txt_turn_intent_left: rl.Texture = gui_app.texture('icons_mici/turn_intent_left.png', 50, 20) - self._txt_turn_intent_right: rl.Texture = gui_app.texture('icons_mici/turn_intent_right.png', 50, 20) + self._txt_turn_intent_right: rl.Texture = gui_app.texture('icons_mici/turn_intent_left.png', 50, 20, flip_x=True) def _render(self, _): if self._turn_intent_alpha_filter.x > 1e-2: diff --git a/selfdrive/ui/mici/tests/test_widget_leaks.py b/selfdrive/ui/mici/tests/test_widget_leaks.py new file mode 100755 index 000000000..7441ed5a2 --- /dev/null +++ b/selfdrive/ui/mici/tests/test_widget_leaks.py @@ -0,0 +1,117 @@ +import pyray as rl +rl.set_config_flags(rl.ConfigFlags.FLAG_WINDOW_HIDDEN) +import gc +import weakref +import pytest +from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.widgets import Widget + +# mici dialogs +from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide as MiciTrainingGuide, OnboardingWindow as MiciOnboardingWindow +from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog as MiciDriverCameraDialog +from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog as MiciPairingDialog +from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialogV2, BigInputDialog +from openpilot.selfdrive.ui.mici.layouts.settings.device import MiciFccModal + +# tici dialogs +from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog as TiciDriverCameraDialog +from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow as TiciOnboardingWindow +from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog as TiciPairingDialog +from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog +from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog +from openpilot.system.ui.widgets.html_render import HtmlModal +from openpilot.system.ui.widgets.keyboard import Keyboard + +# FIXME: known small leaks not worth worrying about at the moment +KNOWN_LEAKS = { + "openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog.DriverCameraView", + "openpilot.selfdrive.ui.mici.layouts.onboarding.TermsPage", + "openpilot.selfdrive.ui.mici.layouts.onboarding.TrainingGuide", + "openpilot.selfdrive.ui.mici.layouts.onboarding.DeclinePage", + "openpilot.selfdrive.ui.mici.layouts.onboarding.OnboardingWindow", + "openpilot.selfdrive.ui.onroad.driver_state.DriverStateRenderer", + "openpilot.selfdrive.ui.onroad.driver_camera_dialog.DriverCameraDialog", + "openpilot.selfdrive.ui.layouts.onboarding.TermsPage", + "openpilot.selfdrive.ui.layouts.onboarding.DeclinePage", + "openpilot.selfdrive.ui.layouts.onboarding.OnboardingWindow", + "openpilot.system.ui.widgets.confirm_dialog.ConfirmDialog", + "openpilot.system.ui.widgets.label.Label", + "openpilot.system.ui.widgets.button.Button", + "openpilot.system.ui.widgets.html_render.HtmlRenderer", + "openpilot.system.ui.widgets.NavBar", + "openpilot.system.ui.widgets.inputbox.InputBox", + "openpilot.system.ui.widgets.scroller_tici.Scroller", + "openpilot.system.ui.widgets.scroller.Scroller", + "openpilot.system.ui.widgets.label.UnifiedLabel", + "openpilot.system.ui.widgets.mici_keyboard.MiciKeyboard", + "openpilot.selfdrive.ui.mici.widgets.dialog.BigConfirmationDialogV2", + "openpilot.system.ui.widgets.keyboard.Keyboard", + "openpilot.system.ui.widgets.slider.BigSlider", + "openpilot.selfdrive.ui.mici.widgets.dialog.BigInputDialog", + "openpilot.system.ui.widgets.option_dialog.MultiOptionDialog", +} + + +def get_child_widgets(widget: Widget) -> list[Widget]: + children = [] + for val in widget.__dict__.values(): + items = val if isinstance(val, (list, tuple)) else (val,) + children.extend(w for w in items if isinstance(w, Widget)) + return children + + +@pytest.mark.skip(reason="segfaults") +def test_dialogs_do_not_leak(): + gui_app.init_window("ref-test") + + leaked_widgets = set() + + for ctor in ( + # mici + MiciDriverCameraDialog, MiciTrainingGuide, MiciOnboardingWindow, MiciPairingDialog, + lambda: BigDialog("test", "test"), + lambda: BigConfirmationDialogV2("test", "icons_mici/settings/network/new/trash.png"), + lambda: BigInputDialog("test"), + lambda: MiciFccModal(text="test"), + # tici + TiciDriverCameraDialog, TiciOnboardingWindow, TiciPairingDialog, Keyboard, + lambda: ConfirmDialog("test", "ok"), + lambda: MultiOptionDialog("test", ["a", "b"]), + lambda: HtmlModal(text="test"), + ): + widget = ctor() + all_refs = [weakref.ref(w) for w in get_child_widgets(widget) + [widget]] + + del widget + + for ref in all_refs: + if ref() is not None: + obj = ref() + name = f"{type(obj).__module__}.{type(obj).__qualname__}" + leaked_widgets.add(name) + + print(f"\n=== Widget {name} alive after del") + print(" Referrers:") + for r in gc.get_referrers(obj): + if r is obj: + continue + + if hasattr(r, '__self__') and r.__self__ is not obj: + print(f" bound method: {type(r.__self__).__qualname__}.{r.__name__}") + elif hasattr(r, '__func__'): + print(f" method: {r.__name__}") + else: + print(f" {type(r).__module__}.{type(r).__qualname__}") + del obj + + gui_app.close() + + unexpected = leaked_widgets - KNOWN_LEAKS + assert not unexpected, f"New leaked widgets: {unexpected}" + + fixed = KNOWN_LEAKS - leaked_widgets + assert not fixed, f"These leaks are fixed, remove from KNOWN_LEAKS: {fixed}" + + +if __name__ == "__main__": + test_dialogs_do_not_leak() diff --git a/selfdrive/ui/mici/widgets/button.py b/selfdrive/ui/mici/widgets/button.py index 29844ccda..3ea650ece 100644 --- a/selfdrive/ui/mici/widgets/button.py +++ b/selfdrive/ui/mici/widgets/button.py @@ -1,3 +1,4 @@ +import math import pyray as rl from typing import Union from enum import Enum @@ -36,7 +37,6 @@ class BigCircleButton(Widget): # State self.set_rect(rl.Rectangle(0, 0, 180, 180)) - self._press_state_enabled = True self._scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps) # Icons @@ -44,17 +44,14 @@ class BigCircleButton(Widget): self._txt_btn_disabled_bg = gui_app.texture("icons_mici/buttons/button_circle_disabled.png", 180, 180) self._txt_btn_bg = gui_app.texture("icons_mici/buttons/button_circle.png", 180, 180) - self._txt_btn_pressed_bg = gui_app.texture("icons_mici/buttons/button_circle_hover.png", 180, 180) + self._txt_btn_pressed_bg = gui_app.texture("icons_mici/buttons/button_circle_pressed.png", 180, 180) self._txt_btn_red_bg = gui_app.texture("icons_mici/buttons/button_circle_red.png", 180, 180) - self._txt_btn_red_pressed_bg = gui_app.texture("icons_mici/buttons/button_circle_red_hover.png", 180, 180) - - def set_enable_pressed_state(self, pressed: bool): - self._press_state_enabled = pressed + self._txt_btn_red_pressed_bg = gui_app.texture("icons_mici/buttons/button_circle_red_pressed.png", 180, 180) def _draw_content(self, btn_y: float): # draw icon - icon_color = rl.WHITE if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35)) + icon_color = rl.Color(255, 255, 255, int(255 * 0.9)) if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35)) rl.draw_texture_ex(self._txt_icon, (self._rect.x + (self._rect.width - self._txt_icon.width) / 2 + self._icon_offset[0], btn_y + (self._rect.height - self._txt_icon.height) / 2 + self._icon_offset[1]), 0, 1.0, icon_color) @@ -63,10 +60,10 @@ class BigCircleButton(Widget): txt_bg = self._txt_btn_bg if not self._red else self._txt_btn_red_bg if not self.enabled: txt_bg = self._txt_btn_disabled_bg - elif self.is_pressed and self._press_state_enabled: + elif self.is_pressed: txt_bg = self._txt_btn_pressed_bg if not self._red else self._txt_btn_red_pressed_bg - scale = self._scale_filter.update(PRESSED_SCALE if self.is_pressed and self._press_state_enabled else 1.0) + scale = self._scale_filter.update(PRESSED_SCALE if self.is_pressed else 1.0) btn_x = self._rect.x + (self._rect.width * (1 - scale)) / 2 btn_y = self._rect.y + (self._rect.height * (1 - scale)) / 2 rl.draw_texture_ex(txt_bg, (btn_x, btn_y), 0, scale, rl.WHITE) @@ -119,6 +116,7 @@ class BigButton(Widget): self.set_icon(icon) self._scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps) + self._shake_start: float | None = None self._rotate_icon_t: float | None = None @@ -143,7 +141,6 @@ class BigButton(Widget): self._txt_default_bg = gui_app.texture("icons_mici/buttons/button_rectangle.png", 402, 180) self._txt_pressed_bg = gui_app.texture("icons_mici/buttons/button_rectangle_pressed.png", 402, 180) self._txt_disabled_bg = gui_app.texture("icons_mici/buttons/button_rectangle_disabled.png", 402, 180) - self._txt_hover_bg = gui_app.texture("icons_mici/buttons/button_rectangle_hover.png", 402, 180) def _width_hint(self) -> int: # Single line if scrolling, so hide behind icon if exists @@ -179,6 +176,23 @@ class BigButton(Widget): def get_text(self): return self.text + def trigger_shake(self): + self._shake_start = rl.get_time() + + @property + def _shake_offset(self) -> float: + SHAKE_DURATION = 0.5 + SHAKE_AMPLITUDE = 24.0 + SHAKE_FREQUENCY = 32.0 + t = rl.get_time() - (self._shake_start or 0.0) + if t > SHAKE_DURATION: + return 0.0 + decay = 1.0 - t / SHAKE_DURATION + return decay * SHAKE_AMPLITUDE * math.sin(t * SHAKE_FREQUENCY) + + def set_position(self, x: float, y: float) -> None: + super().set_position(x + self._shake_offset, y) + def _draw_content(self, btn_y: float): # LABEL ------------------------------------------------------------------ label_x = self._rect.x + LABEL_HORIZONTAL_PADDING @@ -207,7 +221,7 @@ class BigButton(Widget): source_rec = rl.Rectangle(0, 0, self._txt_icon.width, self._txt_icon.height) dest_rec = rl.Rectangle(x, y, self._txt_icon.width, self._txt_icon.height) origin = rl.Vector2(self._txt_icon.width / 2, self._txt_icon.height / 2) - rl.draw_texture_pro(self._txt_icon, source_rec, dest_rec, origin, rotation, rl.WHITE) + rl.draw_texture_pro(self._txt_icon, source_rec, dest_rec, origin, rotation, rl.Color(255, 255, 255, int(255 * 0.9))) def _render(self, _): # draw _txt_default_bg @@ -215,14 +229,22 @@ class BigButton(Widget): if not self.enabled: txt_bg = self._txt_disabled_bg elif self.is_pressed: - txt_bg = self._txt_hover_bg + txt_bg = self._txt_pressed_bg scale = self._scale_filter.update(PRESSED_SCALE if self.is_pressed else 1.0) btn_x = self._rect.x + (self._rect.width * (1 - scale)) / 2 btn_y = self._rect.y + (self._rect.height * (1 - scale)) / 2 - rl.draw_texture_ex(txt_bg, (btn_x, btn_y), 0, scale, rl.WHITE) - self._draw_content(btn_y) + if self._scroll: + # draw black background since images are transparent + scaled_rect = rl.Rectangle(btn_x, btn_y, self._rect.width * scale, self._rect.height * scale) + rl.draw_rectangle_rounded(scaled_rect, 0.4, 7, rl.Color(0, 0, 0, int(255 * 0.5))) + + self._draw_content(btn_y) + rl.draw_texture_ex(txt_bg, (btn_x, btn_y), 0, scale, rl.WHITE) + else: + rl.draw_texture_ex(txt_bg, (btn_x, btn_y), 0, scale, rl.WHITE) + self._draw_content(btn_y) class BigToggle(BigButton): diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py index b88ac2049..8e978066c 100644 --- a/selfdrive/ui/mici/widgets/dialog.py +++ b/selfdrive/ui/mici/widgets/dialog.py @@ -3,14 +3,12 @@ import math import pyray as rl from typing import Union from collections.abc import Callable -from typing import cast -from openpilot.system.ui.widgets import Widget, NavWidget, DialogResult +from openpilot.system.ui.widgets.nav_widget import NavWidget from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label from openpilot.system.ui.widgets.mici_keyboard import MiciKeyboard from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.lib.wrap_text import wrap_text -from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, MouseEvent -from openpilot.system.ui.widgets.scroller import Scroller +from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos from openpilot.system.ui.widgets.slider import RedBigSlider, BigSlider from openpilot.common.filter_simple import FirstOrderFilter from openpilot.selfdrive.ui.mici.widgets.button import BigButton @@ -23,17 +21,8 @@ PADDING = 20 class BigDialogBase(NavWidget, abc.ABC): def __init__(self): super().__init__() - self._ret = DialogResult.NO_ACTION self.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) - self.set_back_callback(lambda: setattr(self, '_ret', DialogResult.CANCEL)) - - def _render(self, _) -> DialogResult: - """ - Allows `gui_app.set_modal_overlay(BigDialog(...))`. - The overlay runner keeps calling until result != NO_ACTION. - """ - - return self._ret + self.set_back_callback(gui_app.pop_widget) class BigDialog(BigDialogBase): @@ -44,7 +33,7 @@ class BigDialog(BigDialogBase): self._title = title self._description = description - def _render(self, _) -> DialogResult: + def _render(self, _): super()._render(_) # draw title @@ -74,8 +63,6 @@ class BigDialog(BigDialogBase): gui_label(desc_rect, desc_wrapped, 30, font_weight=FontWeight.MEDIUM, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) - return self._ret - class BigConfirmationDialogV2(BigDialogBase): def __init__(self, title: str, icon: str, red: bool = False, @@ -91,22 +78,21 @@ class BigConfirmationDialogV2(BigDialogBase): self._slider = RedBigSlider(title, icon_txt, confirm_callback=self._on_confirm) else: self._slider = BigSlider(title, icon_txt, confirm_callback=self._on_confirm) - self._slider.set_enabled(lambda: not self._swiping_away) + self._slider.set_enabled(lambda: self.enabled and not self._swiping_away) # self.enabled for nav stack def _on_confirm(self): + if self._exit_on_confirm: + gui_app.pop_widget() if self._confirm_callback: self._confirm_callback() - if self._exit_on_confirm: - self._ret = DialogResult.CONFIRM def _update_state(self): super()._update_state() if self._swiping_away and not self._slider.confirmed: self._slider.reset() - def _render(self, _) -> DialogResult: + def _render(self, _): self._slider.render(self._rect) - return self._ret class BigInputDialog(BigDialogBase): @@ -124,6 +110,7 @@ class BigInputDialog(BigDialogBase): font_weight=FontWeight.MEDIUM) self._keyboard = MiciKeyboard() self._keyboard.set_text(default_text) + self._keyboard.set_enabled(lambda: self.enabled) # for nav stack self._minimum_length = minimum_length self._backspace_held_time: float | None = None @@ -140,9 +127,10 @@ class BigInputDialog(BigDialogBase): self._top_right_button_rect = rl.Rectangle(0, 0, 0, 0) def confirm_callback_wrapper(): - self._ret = DialogResult.CONFIRM + text = self._keyboard.text() + gui_app.pop_widget() if confirm_callback: - confirm_callback(self._keyboard.text()) + confirm_callback(text) self._confirm_callback = confirm_callback_wrapper def _update_state(self): @@ -195,11 +183,13 @@ class BigInputDialog(BigDialogBase): rl.BLACK, rl.BLANK) # draw cursor + blink_alpha = (math.sin(rl.get_time() * 6) + 1) / 2 if text: - blink_alpha = (math.sin(rl.get_time() * 6) + 1) / 2 cursor_x = min(text_x + text_size.x + 3, text_field_rect.x + text_field_rect.width) - rl.draw_rectangle_rounded(rl.Rectangle(int(cursor_x), int(text_field_rect.y), 4, int(text_size.y)), - 1, 4, rl.Color(255, 255, 255, int(255 * blink_alpha))) + else: + cursor_x = text_field_rect.x - 6 + rl.draw_rectangle_rounded(rl.Rectangle(int(cursor_x), int(text_field_rect.y), 4, int(text_size.y)), + 1, 4, rl.Color(255, 255, 255, int(255 * blink_alpha))) # draw backspace icon with nice fade self._backspace_img_alpha.update(255 * bool(text)) @@ -209,7 +199,10 @@ class BigInputDialog(BigDialogBase): if not text and self._hint_label.text and not candidate_char: # draw description if no text entered yet and not drawing candidate char - self._hint_label.render(text_field_rect) + hint_rect = rl.Rectangle(text_field_rect.x, text_field_rect.y, + self._rect.width - text_field_rect.x - PADDING, + text_field_rect.height) + self._hint_label.render(hint_rect) # TODO: move to update state # make rect take up entire area so it's easier to click @@ -233,8 +226,6 @@ class BigInputDialog(BigDialogBase): rl.draw_rectangle_lines_ex(self._top_right_button_rect, 1, rl.Color(0, 255, 0, 255)) rl.draw_rectangle_lines_ex(self._top_left_button_rect, 1, rl.Color(0, 255, 0, 255)) - return self._ret - def _handle_mouse_press(self, mouse_pos: MousePos): super()._handle_mouse_press(mouse_pos) # TODO: need to track where press was so enter and back can activate on release rather than press @@ -247,149 +238,6 @@ class BigInputDialog(BigDialogBase): self._confirm_callback() -class BigDialogOptionButton(Widget): - HEIGHT = 64 - SELECTED_HEIGHT = 74 - - def __init__(self, option: str): - super().__init__() - self.option = option - self.set_rect(rl.Rectangle(0, 0, int(gui_app.width / 2 + 220), self.HEIGHT)) - - self._selected = False - - self._label = UnifiedLabel(option, font_size=70, text_color=rl.Color(255, 255, 255, int(255 * 0.58)), - font_weight=FontWeight.DISPLAY_REGULAR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, - scroll=True) - - def show_event(self): - super().show_event() - self._label.reset_scroll() - - def set_selected(self, selected: bool): - self._selected = selected - self._rect.height = self.SELECTED_HEIGHT if selected else self.HEIGHT - - def _render(self, _): - if DEBUG: - rl.draw_rectangle_lines_ex(self._rect, 1, rl.Color(0, 255, 0, 255)) - - # FIXME: offset x by -45 because scroller centers horizontally - if self._selected: - self._label.set_font_size(self.SELECTED_HEIGHT) - self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.9))) - self._label.set_font_weight(FontWeight.DISPLAY) - else: - self._label.set_font_size(self.HEIGHT) - self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.58))) - self._label.set_font_weight(FontWeight.DISPLAY_REGULAR) - - self._label.render(self._rect) - - -class BigMultiOptionDialog(BigDialogBase): - BACK_TOUCH_AREA_PERCENTAGE = 0.1 - - def __init__(self, options: list[str], default: str | None): - super().__init__() - self._options = options - if default is not None: - assert default in options - - self._default_option: str | None = default - self._selected_option: str = self._default_option or (options[0] if len(options) > 0 else "") - self._last_selected_option: str = self._selected_option - - # Widget doesn't differentiate between click and drag - self._can_click = True - - self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0, snap_items=True) - - for option in options: - self._scroller.add_widget(BigDialogOptionButton(option)) - - def show_event(self): - super().show_event() - self._scroller.show_event() - if self._default_option is not None: - self._on_option_selected(self._default_option) - - def get_selected_option(self) -> str: - return self._selected_option - - def _on_option_selected(self, option: str): - y_pos = 0.0 - for btn in self._scroller._items: - btn = cast(BigDialogOptionButton, btn) - if btn.option == option: - rect_center_y = self._rect.y + self._rect.height / 2 - if btn._selected: - height = btn.rect.height - else: - # when selecting an option under current, account for changing heights - btn_center_y = btn.rect.y + btn.rect.height / 2 # not accurate, just to determine direction - height_offset = BigDialogOptionButton.SELECTED_HEIGHT - BigDialogOptionButton.HEIGHT - height = (BigDialogOptionButton.HEIGHT - height_offset) if rect_center_y < btn_center_y else BigDialogOptionButton.SELECTED_HEIGHT - y_pos = rect_center_y - (btn.rect.y + height / 2) - break - - self._scroller.scroll_to(-y_pos) - - def _selected_option_changed(self): - pass - - def _handle_mouse_press(self, mouse_pos: MousePos): - super()._handle_mouse_press(mouse_pos) - self._can_click = True - - def _handle_mouse_event(self, mouse_event: MouseEvent) -> None: - super()._handle_mouse_event(mouse_event) - - # # TODO: add generic _handle_mouse_click handler to Widget - if not self._scroller.scroll_panel.is_touch_valid(): - self._can_click = False - - def _handle_mouse_release(self, mouse_pos: MousePos): - super()._handle_mouse_release(mouse_pos) - - if not self._can_click: - return - - # select current option - for btn in self._scroller._items: - btn = cast(BigDialogOptionButton, btn) - if btn.option == self._selected_option: - self._on_option_selected(btn.option) - break - - def _update_state(self): - super()._update_state() - - # get selection by whichever button is closest to center - center_y = self._rect.y + self._rect.height / 2 - closest_btn = (None, float('inf')) - for btn in self._scroller._items: - dist_y = abs((btn.rect.y + btn.rect.height / 2) - center_y) - if dist_y < closest_btn[1]: - closest_btn = (btn, dist_y) - - if closest_btn[0]: - for btn in self._scroller._items: - btn.set_selected(btn.option == closest_btn[0].option) - self._selected_option = closest_btn[0].option - - # Signal to subclasses if selection changed - if self._selected_option != self._last_selected_option: - self._selected_option_changed() - self._last_selected_option = self._selected_option - - def _render(self, _): - super()._render(_) - self._scroller.render(self._rect) - - return self._ret - - class BigDialogButton(BigButton): def __init__(self, text: str, value: str = "", icon: Union[str, rl.Texture] = "", description: str = ""): super().__init__(text, value, icon) @@ -399,4 +247,4 @@ class BigDialogButton(BigButton): super()._handle_mouse_release(mouse_pos) dlg = BigDialog(self.text, self._description) - gui_app.set_modal_overlay(dlg) + gui_app.push_widget(dlg) diff --git a/selfdrive/ui/mici/widgets/pairing_dialog.py b/selfdrive/ui/mici/widgets/pairing_dialog.py index 88bab2d00..64b2c9a06 100644 --- a/selfdrive/ui/mici/widgets/pairing_dialog.py +++ b/selfdrive/ui/mici/widgets/pairing_dialog.py @@ -7,7 +7,7 @@ from openpilot.common.api import Api from openpilot.common.swaglog import cloudlog from openpilot.common.params import Params from openpilot.selfdrive.ui.ui_state import ui_state -from openpilot.system.ui.widgets import NavWidget +from openpilot.system.ui.widgets.nav_widget import NavWidget from openpilot.system.ui.lib.application import FontWeight, gui_app from openpilot.system.ui.widgets.label import MiciLabel @@ -19,7 +19,7 @@ class PairingDialog(NavWidget): def __init__(self): super().__init__() - self.set_back_callback(lambda: gui_app.set_modal_overlay(None)) + self.set_back_callback(gui_app.pop_widget) self._params = Params() self._qr_texture: rl.Texture | None = None self._last_qr_generation = float("-inf") @@ -72,7 +72,7 @@ class PairingDialog(NavWidget): if ui_state.prime_state.is_paired(): self._playing_dismiss_animation = True - def _render(self, rect: rl.Rectangle) -> int: + def _render(self, rect: rl.Rectangle): self._check_qr_refresh() self._render_qr_code() @@ -85,8 +85,6 @@ class PairingDialog(NavWidget): rl.draw_texture_ex(self._txt_pair, rl.Vector2(label_x, self._rect.y + self._rect.height - self._txt_pair.height - 16), 0.0, 1.0, rl.Color(255, 255, 255, int(255 * 0.35))) - return -1 - def _render_qr_code(self) -> None: if not self._qr_texture: error_font = gui_app.font(FontWeight.BOLD) @@ -107,10 +105,9 @@ class PairingDialog(NavWidget): if __name__ == "__main__": gui_app.init_window("pairing device") pairing = PairingDialog() + gui_app.push_widget(pairing) try: for _ in gui_app.render(): - result = pairing.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) - if result != -1: - break + pass finally: del pairing diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py index 76e7b078d..bad9da6fa 100644 --- a/selfdrive/ui/onroad/augmented_road_view.py +++ b/selfdrive/ui/onroad/augmented_road_view.py @@ -238,6 +238,7 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP): if __name__ == "__main__": gui_app.init_window("OnRoad Camera View") road_camera_view = AugmentedRoadView(ROAD_CAM) + gui_app.push_widget(road_camera_view) print("***press space to switch camera view***") try: for _ in gui_app.render(): @@ -246,6 +247,5 @@ if __name__ == "__main__": if WIDE_CAM in road_camera_view.available_streams: stream = ROAD_CAM if road_camera_view.stream_type == WIDE_CAM else WIDE_CAM road_camera_view.switch_stream(stream) - road_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) finally: road_camera_view.close() diff --git a/selfdrive/ui/onroad/driver_camera_dialog.py b/selfdrive/ui/onroad/driver_camera_dialog.py index f69ad8c49..e66e04b82 100644 --- a/selfdrive/ui/onroad/driver_camera_dialog.py +++ b/selfdrive/ui/onroad/driver_camera_dialog.py @@ -14,7 +14,7 @@ class DriverCameraDialog(CameraView): super().__init__("camerad", VisionStreamType.VISION_STREAM_DRIVER) self.driver_state_renderer = DriverStateRenderer() # TODO: this can grow unbounded, should be given some thought - device.add_interactive_timeout_callback(lambda: gui_app.set_modal_overlay(None)) + device.add_interactive_timeout_callback(gui_app.pop_widget) ui_state.params.put_bool("IsDriverViewEnabled", True) def hide_event(self): @@ -24,7 +24,7 @@ class DriverCameraDialog(CameraView): def _handle_mouse_release(self, _): super()._handle_mouse_release(_) - gui_app.set_modal_overlay(None) + gui_app.pop_widget() def __del__(self): self.close() @@ -103,9 +103,9 @@ if __name__ == "__main__": gui_app.init_window("Driver Camera View") driver_camera_view = DriverCameraDialog() + gui_app.push_widget(driver_camera_view) try: for _ in gui_app.render(): ui_state.update() - driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) finally: driver_camera_view.close() diff --git a/selfdrive/ui/sunnypilot/layouts/settings/developer.py b/selfdrive/ui/sunnypilot/layouts/settings/developer.py index f3a243337..4cac66e31 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/developer.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/developer.py @@ -69,8 +69,8 @@ class DeveloperLayoutSP(DeveloperLayout): def _on_error_log_closed(self, result, log_exists): if result == DialogResult.CONFIRM and log_exists: - dialog2 = ConfirmDialog(tr("Would you like to delete this log?"), tr("Yes"), tr("No"), rich=False) - gui_app.set_modal_overlay(dialog2, callback=self._on_delete_confirm) + dialog2 = ConfirmDialog(tr("Would you like to delete this log?"), tr("Yes"), tr("No"), rich=False, callback=self._on_delete_confirm) + gui_app.push_widget(dialog2) def _on_error_log_clicked(self): text = "" @@ -82,7 +82,7 @@ class DeveloperLayoutSP(DeveloperLayout): except Exception: pass dialog = HtmlModalSP(text=text, callback=lambda result: self._on_error_log_closed(result, os.path.exists(self.error_log_path))) - gui_app.set_modal_overlay(dialog) + gui_app.push_widget(dialog) def _update_state(self): disable_updates = ui_state.params.get_bool("DisableUpdates") diff --git a/selfdrive/ui/sunnypilot/layouts/settings/device.py b/selfdrive/ui/sunnypilot/layouts/settings/device.py index 8f9d0ae22..1fb931473 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/device.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/device.py @@ -5,6 +5,7 @@ This file is part of sunnypilot and is licensed under the MIT License. See the LICENSE.md file in the root directory for more details. """ from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout +from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.system.hardware import HARDWARE from openpilot.system.ui.lib.application import gui_app @@ -81,7 +82,7 @@ class DeviceLayoutSP(DeviceLayout): left_text=lambda: tr("Quiet Mode"), right_text=lambda: tr("Driver Camera Preview"), left_callback=lambda: ui_state.params.put_bool("QuietMode", not ui_state.params.get_bool("QuietMode")), - right_callback=self._show_driver_camera + right_callback=lambda: gui_app.push_widget(DriverCameraDialog()) ) self._quiet_mode_and_dcam.action_item.right_button.set_button_style(ButtonStyle.NORMAL) @@ -153,20 +154,20 @@ class DeviceLayoutSP(DeviceLayout): def _second_confirm(result: int): if result == DialogResult.CONFIRM: - gui_app.set_modal_overlay(ConfirmDialog( + gui_app.push_widget(ConfirmDialog( text=tr("The reset cannot be undone. You have been warned."), - confirm_text=tr("Confirm") - ), callback=_do_reset) + confirm_text=tr("Confirm"), callback=_do_reset + )) - gui_app.set_modal_overlay(ConfirmDialog( + gui_app.push_widget(ConfirmDialog( text=tr("Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back."), - confirm_text=tr("Reset") - ), callback=_second_confirm) + confirm_text=tr("Reset"), callback=_second_confirm + )) @staticmethod def _handle_always_offroad(): if ui_state.engaged: - gui_app.set_modal_overlay(alert_dialog(tr("Disengage to Enter Always Offroad Mode"))) + gui_app.push_widget(alert_dialog(tr("Disengage to Enter Always Offroad Mode"))) return _offroad_mode_state = ui_state.params.get_bool("OffroadMode") @@ -177,7 +178,7 @@ class DeviceLayoutSP(DeviceLayout): if result == DialogResult.CONFIRM and not ui_state.engaged: ui_state.params.put_bool("OffroadMode", not _offroad_mode_state) - gui_app.set_modal_overlay(ConfirmDialog(_offroad_mode_str, tr("Confirm")), callback=lambda result: _set_always_offroad(result)) + gui_app.push_widget(ConfirmDialog(_offroad_mode_str, tr("Confirm"), callback=lambda result: _set_always_offroad(result))) @staticmethod def _update_max_time_offroad_label(value: int) -> str: diff --git a/selfdrive/ui/sunnypilot/layouts/settings/models.py b/selfdrive/ui/sunnypilot/layouts/settings/models.py index 4fb579a0f..bf6af5694 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/models.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/models.py @@ -61,7 +61,7 @@ class ModelsLayout(Widget): self.refresh_item = button_item(tr("Refresh Model List"), tr("REFRESH"), "", lambda: (ui_state.params.put("ModelManager_LastSyncTime", 0), - gui_app.set_modal_overlay(alert_dialog(tr("Fetching Latest Models"))))) + gui_app.push_widget(alert_dialog(tr("Fetching Latest Models"))))) self.clear_cache_item = ListItemSP( title=tr("Clear Model Cache"), @@ -122,8 +122,9 @@ class ModelsLayout(Widget): ui_state.params.put_bool("ModelManager_ClearCache", True) self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB") - gui_app.set_modal_overlay(ConfirmDialog(tr("This will delete ALL downloaded models from the cache except the currently active model. Are you sure?"), - tr("Clear Cache")), callback=_callback) + dialog = ConfirmDialog(tr("This will delete ALL downloaded models from the cache except the currently active model. Are you sure?"), + tr("Clear Cache"), callback=_callback) + gui_app.push_widget(dialog) def _handle_bundle_download_progress(self): labels = {custom.ModelManagerSP.Model.Type.supercombo: self.supercombo_label, @@ -176,7 +177,8 @@ class ModelsLayout(Widget): ui_state.params.remove("CalibrationParams") ui_state.params.remove("LiveTorqueParameters") msg = tr("Model download has started in the background. We suggest resetting calibration. Would you like to do that now?") - gui_app.set_modal_overlay(ConfirmDialog(msg, tr("Reset Calibration")), callback=_callback) + dialog = ConfirmDialog(msg, tr("Reset Calibration"), callback=_callback) + gui_app.push_widget(dialog) def _on_model_selected(self, result): if result != DialogResult.CONFIRM: @@ -219,7 +221,7 @@ class ModelsLayout(Widget): active_ref = self.model_manager.activeBundle.ref if self.model_manager.activeBundle else "Default" self.model_dialog = TreeOptionDialog(tr("Select a Model"), folders_list, active_ref, "ModelManager_Favs", get_folders_fn=self._get_folders, on_exit=self._on_model_selected) - gui_app.set_modal_overlay(self.model_dialog, callback=self._on_model_selected) + gui_app.push_widget(self.model_dialog) def _update_state(self): advanced_controls: bool = ui_state.params.get_bool("ShowAdvancedControls") diff --git a/selfdrive/ui/sunnypilot/layouts/settings/osm.py b/selfdrive/ui/sunnypilot/layouts/settings/osm.py index f8a3a8504..58236961b 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/osm.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/osm.py @@ -56,7 +56,7 @@ class OSMLayout(Widget): self.items = [self._mapd_version, self._delete_maps_btn, self._progress, self._update_btn, self._country_btn, self._state_btn] def _show_confirm(self, msg, confirm_text, func): - gui_app.set_modal_overlay(ConfirmDialog(msg, confirm_text), lambda res: func() if res == DialogResult.CONFIRM else None) + gui_app.push_widget(ConfirmDialog(msg, confirm_text, callback=lambda res: func() if res == DialogResult.CONFIRM else None)) def calculate_size(self): total_size = 0 @@ -150,7 +150,7 @@ class OSMLayout(Widget): dialog = TreeOptionDialog(tr(f"Select {region_type}"), [TreeFolder(folder="", nodes=locations)], current_ref=current, search_prompt="Perform a search") dialog.on_exit = lambda res: self._handle_region_selection(region_type, locations, key, res, dialog.selection_ref) - gui_app.set_modal_overlay(dialog, callback=lambda res: self._handle_region_selection(region_type, locations, key, res, dialog.selection_ref)) + gui_app.push_widget(dialog) def _update_labels(self): downloading = bool(self._mem_params.get("OSMDownloadLocations")) diff --git a/selfdrive/ui/sunnypilot/layouts/settings/software.py b/selfdrive/ui/sunnypilot/layouts/settings/software.py index b890dd5b5..7765a58b6 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/software.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/software.py @@ -47,8 +47,8 @@ class SoftwareLayoutSP(SoftwareLayout): self.disable_updates_toggle.action_item.set_state(ui_state.params.get_bool("DisableUpdates")) def _on_disable_updates_toggled(self, enabled): - dialog = ConfirmDialog(tr("System reboot required for changes to take effect. Reboot now?"), tr("Reboot")) - gui_app.set_modal_overlay(dialog, callback=self._handle_reboot) + dialog = ConfirmDialog(tr("System reboot required for changes to take effect. Reboot now?"), tr("Reboot"), callback=self._handle_reboot) + gui_app.push_widget(dialog) def _on_select_branch(self): current_git_branch = ui_state.params.get("GitBranch") or "" @@ -84,7 +84,7 @@ class SoftwareLayoutSP(SoftwareLayout): self._branch_dialog = TreeOptionDialog(tr("Select a branch"), folders, current_target, "", on_exit=_on_branch_selected) - gui_app.set_modal_overlay(self._branch_dialog, callback=_on_branch_selected) + gui_app.push_widget(self._branch_dialog) def _update_state(self): super()._update_state() diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py index b4302e1ab..d4976b129 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py @@ -186,5 +186,6 @@ class TorqueSettingsLayout(Widget): folders, current_ref=current_label, option_font_weight=FontWeight.UNIFONT, + on_exit=handle_selection, ) - gui_app.set_modal_overlay(self._torque_version_dialog, callback=handle_selection) + gui_app.push_widget(self._torque_version_dialog) diff --git a/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py b/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py index 7955f1320..5edd2e5b8 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py @@ -215,21 +215,23 @@ class SunnylinkLayout(Widget): def _handle_pair_btn(self, sponsor_pairing: bool = False): sunnylink_dongle_id = self._get_sunnylink_dongle_id() if sunnylink_dongle_id == UNREGISTERED_SUNNYLINK_DONGLE_ID: - gui_app.set_modal_overlay(alert_dialog(message=tr("sunnylink Dongle ID not found. ") + + gui_app.push_widget(alert_dialog(message=tr("sunnylink Dongle ID not found. ") + tr("This may be due to weak internet connection or sunnylink registration issue. ") + tr("Please reboot and try again."))) elif not self._sunnylink_pairing_dialog: self._sunnylink_pairing_dialog = SunnylinkPairingDialog(sponsor_pairing) - gui_app.set_modal_overlay(self._sunnylink_pairing_dialog, callback=lambda result: setattr(self, '_sunnylink_pairing_dialog', None)) + gui_app.push_widget(self._sunnylink_pairing_dialog) def _handle_backup_btn(self): - backup_dialog = ConfirmDialog(text=tr("Are you sure you want to backup your current sunnypilot settings?"), confirm_text="Backup") - gui_app.set_modal_overlay(backup_dialog, callback=self._backup_handler) + backup_dialog = ConfirmDialog(text=tr("Are you sure you want to backup your current sunnypilot settings?"), confirm_text="Backup", + callback=self._backup_handler) + gui_app.push_widget(backup_dialog) def _handle_restore_btn(self): self._restore_btn.set_enabled(False) - restore_dialog = ConfirmDialog(text=tr("Are you sure you want to restore the last backed up sunnypilot settings?"), confirm_text="Restore") - gui_app.set_modal_overlay(restore_dialog, callback=self._restore_handler) + restore_dialog = ConfirmDialog(text=tr("Are you sure you want to restore the last backed up sunnypilot settings?"), + confirm_text="Restore", callback=self._restore_handler) + gui_app.push_widget(restore_dialog) def _backup_handler(self, dialog_result: int): if dialog_result == DialogResult.CONFIRM: @@ -269,7 +271,7 @@ class SunnylinkLayout(Widget): (backup_status == custom.BackupManagerSP.Status.idle and backup_progress == 100.0)): self._backup_in_progress = False dialog = alert_dialog(tr("Settings backup completed.")) - gui_app.set_modal_overlay(dialog) + gui_app.push_widget(dialog) self._backup_btn.set_enabled(not ui_state.is_onroad()) elif self._restore_in_progress: @@ -286,13 +288,13 @@ class SunnylinkLayout(Widget): self._restore_btn.set_enabled(not ui_state.is_onroad()) self._restore_btn.set_text(tr("Restore Failed")) dialog = alert_dialog(tr("Unable to restore the settings, try again later.")) - gui_app.set_modal_overlay(dialog) + gui_app.push_widget(dialog) elif (restore_status == custom.BackupManagerSP.Status.completed or (restore_status == custom.BackupManagerSP.Status.idle and restore_progress == 100.0)): self._restore_in_progress = False - dialog = alert_dialog(tr("Settings restored. Confirm to restart the interface.")) - gui_app.set_modal_overlay(dialog, callback=lambda: gui_app.request_close()) + dialog = ConfirmDialog(tr("Settings restored. Confirm to restart the interface."), tr("OK"), cancel_text="", callback=lambda _: gui_app.request_close()) + gui_app.push_widget(dialog) else: can_enable = self._sunnylink_enabled and not ui_state.is_onroad() @@ -309,10 +311,10 @@ class SunnylinkLayout(Widget): def on_consent_done(): enabled = ui_state.params.get_bool("SunnylinkEnabled") self._update_description(enabled) - gui_app.set_modal_overlay(None) + gui_app.pop_widget() sl_terms_dlg = SunnylinkConsentPage(done_callback=on_consent_done) - gui_app.set_modal_overlay(sl_terms_dlg) + gui_app.push_widget(sl_terms_dlg) else: ui_state.params.put_bool("SunnylinkEnabled", state) self._update_description(state) diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py index ac3d04f36..fb375e444 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py @@ -48,8 +48,8 @@ class ToyotaSettings(BrandSettings): content = (f"

{self.enforce_stock_longitudinal.title}


" + f"

{self.enforce_stock_longitudinal.description}

") - dlg = ConfirmDialog(content, tr("Enable"), rich=True) - gui_app.set_modal_overlay(dlg, callback=confirm_callback) + dlg = ConfirmDialog(content, tr("Enable"), rich=True, callback=confirm_callback) + gui_app.push_widget(dlg) else: ui_state.params.put_bool("ToyotaEnforceStockLongitudinal", False) diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py index 517a7d962..6102e8e9b 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py @@ -95,10 +95,9 @@ class PlatformSelector(Button): offroad_msg = tr("This setting will take effect immediately.") if ui_state.is_offroad else \ tr("This setting will take effect once the device enters offroad state.") - confirm_dialog = ConfirmDialog(offroad_msg, tr("Confirm")) - callback = partial(self._confirm_platform, dialog.selection_ref) - gui_app.set_modal_overlay(confirm_dialog, callback=callback) + confirm_dialog = ConfirmDialog(offroad_msg, tr("Confirm"), callback=callback) + gui_app.push_widget(confirm_dialog) def _confirm_platform(self, platform_name, res): if res == DialogResult.CONFIRM: @@ -120,7 +119,7 @@ class PlatformSelector(Button): ) callback = partial(self._on_platform_selected, dialog) dialog.on_exit = callback - gui_app.set_modal_overlay(dialog, callback=callback) + gui_app.push_widget(dialog) def refresh(self): self.color = style.YELLOW diff --git a/selfdrive/ui/sunnypilot/mici/layouts/models.py b/selfdrive/ui/sunnypilot/mici/layouts/models.py index d5964ea96..49a0f49ff 100644 --- a/selfdrive/ui/sunnypilot/mici/layouts/models.py +++ b/selfdrive/ui/sunnypilot/mici/layouts/models.py @@ -10,7 +10,7 @@ from cereal import custom from openpilot.selfdrive.ui.mici.widgets.button import BigButton from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.system.ui.lib.multilang import tr -from openpilot.system.ui.widgets import NavWidget, Widget +from openpilot.system.ui.widgets.nav_widget import NavWidget, Widget from openpilot.system.ui.widgets.scroller import Scroller @@ -88,7 +88,7 @@ class ModelsLayoutMici(NavWidget): self._scroller._items = self.main_items self.set_back_callback(self.original_back_callback) if self.focused_widget and self.focused_widget in self.main_items: - x = self._scroller._pad_start + x = self._scroller._pad for item in self.main_items: if not item.is_visible: continue diff --git a/selfdrive/ui/sunnypilot/mici/layouts/settings.py b/selfdrive/ui/sunnypilot/mici/layouts/settings.py index 69982e229..43d0bd2ce 100644 --- a/selfdrive/ui/sunnypilot/mici/layouts/settings.py +++ b/selfdrive/ui/sunnypilot/mici/layouts/settings.py @@ -4,39 +4,26 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. This file is part of sunnypilot and is licensed under the MIT License. See the LICENSE.md file in the root directory for more details. """ -from enum import IntEnum - from openpilot.selfdrive.ui.mici.layouts.settings import settings as OP from openpilot.selfdrive.ui.mici.widgets.button import BigButton from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici +from openpilot.system.ui.lib.application import gui_app ICON_SIZE = 70 -OP.PanelType = IntEnum( - "PanelType", - [es.name for es in OP.PanelType] + [ - "SUNNYLINK", - "MODELS", - ], - start=0, -) - class SettingsLayoutSP(OP.SettingsLayout): def __init__(self): OP.SettingsLayout.__init__(self) + sunnylink_panel = SunnylinkLayoutMici(back_callback=gui_app.pop_widget) sunnylink_btn = BigButton("sunnylink", "", "icons_mici/settings/developer/ssh.png") - sunnylink_btn.set_click_callback(lambda: self._set_current_panel(OP.PanelType.SUNNYLINK)) + sunnylink_btn.set_click_callback(lambda: gui_app.push_widget(sunnylink_panel)) + models_panel = ModelsLayoutMici(back_callback=gui_app.pop_widget) models_btn = BigButton("models", "", "../../sunnypilot/selfdrive/assets/offroad/icon_models.png") - models_btn.set_click_callback(lambda: self._set_current_panel(OP.PanelType.MODELS)) - - self._panels.update({ - OP.PanelType.SUNNYLINK: OP.PanelInfo("sunnylink", SunnylinkLayoutMici(back_callback=lambda: self._set_current_panel(None))), - OP.PanelType.MODELS: OP.PanelInfo("models", ModelsLayoutMici(back_callback=lambda: self._set_current_panel(None))), - }) + models_btn.set_click_callback(lambda: gui_app.push_widget(models_panel)) items = self._scroller._items.copy() diff --git a/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py b/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py index 172ef7d2f..b4b4f21e2 100644 --- a/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py +++ b/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py @@ -16,7 +16,7 @@ from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID from openpilot.system.ui.lib.application import gui_app, MousePos from openpilot.system.ui.lib.multilang import tr -from openpilot.system.ui.widgets import NavWidget +from openpilot.system.ui.widgets.nav_widget import NavWidget from openpilot.system.ui.widgets.scroller import Scroller from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined @@ -90,16 +90,16 @@ class SunnylinkLayoutMici(NavWidget): def sl_terms_accepted(): ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version) ui_state.params.put_bool("SunnylinkEnabled", True) - gui_app.set_modal_overlay(None) + gui_app.pop_widget() def sl_terms_declined(): ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined) ui_state.params.put_bool("SunnylinkEnabled", False) - gui_app.set_modal_overlay(None) + gui_app.pop_widget() if state and not sl_consent and not sl_enabled: sl_terms_dlg = SunnylinkConsentPage(on_accept=sl_terms_accepted, on_decline=sl_terms_declined) - gui_app.set_modal_overlay(sl_terms_dlg) + gui_app.push_widget(sl_terms_dlg) else: ui_state.params.put_bool("SunnylinkEnabled", state) @@ -113,7 +113,7 @@ class SunnylinkLayoutMici(NavWidget): lbl = tr("slide to restore") if restore else tr("slide to backup") icon = "icons_mici/settings/device/update.png" dlg = BigConfirmationDialogV2(lbl, icon, confirm_callback=self._restore_handler if restore else self._backup_handler) - gui_app.set_modal_overlay(dlg) + gui_app.push_widget(dlg) def _backup_handler(self): self._backup_in_progress = True @@ -152,7 +152,7 @@ class SunnylinkLayoutMici(NavWidget): elif (backup_status == custom.BackupManagerSP.Status.completed or (backup_status == custom.BackupManagerSP.Status.idle and backup_progress == 100.0)): self._backup_in_progress = False - gui_app.set_modal_overlay(BigDialog(title=tr("settings backed up"), description="")) + gui_app.push_widget(BigDialog(title=tr("settings backed up"), description="")) self._backup_btn.set_enabled(not ui_state.is_onroad()) elif self._restore_in_progress: @@ -170,12 +170,12 @@ class SunnylinkLayoutMici(NavWidget): self._restore_btn.set_enabled(not ui_state.is_onroad()) self._restore_btn.set_text(tr("restore")) self._restore_btn.set_value(tr("failed")) - gui_app.set_modal_overlay(BigDialog(title=tr("unable to restore"), description="try again later.")) + gui_app.push_widget(BigDialog(title=tr("unable to restore"), description="try again later.")) elif (restore_status == custom.BackupManagerSP.Status.completed or (restore_status == custom.BackupManagerSP.Status.idle and restore_progress == 100.0)): self._restore_in_progress = False - gui_app.set_modal_overlay(BigConfirmationDialogV2( + gui_app.push_widget(BigConfirmationDialogV2( title="slide to restart", icon="icons_mici/settings/device/reboot.png", confirm_callback=lambda: gui_app.request_close())) @@ -208,4 +208,4 @@ class SunnylinkPairBigButton(BigButton): elif not self.sponsor_pairing: dlg = SunnylinkPairingDialog(sponsor_pairing=False) if dlg: - gui_app.set_modal_overlay(dlg) + gui_app.push_widget(dlg) diff --git a/selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py b/selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py index e2cef2fa0..eb3c2bddf 100644 --- a/selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py +++ b/selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py @@ -12,7 +12,7 @@ from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog from openpilot.sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID, API_HOST from openpilot.system.ui.lib.application import FontWeight, gui_app from openpilot.system.ui.lib.multilang import tr -from openpilot.system.ui.widgets import NavWidget +from openpilot.system.ui.widgets.nav_widget import NavWidget from openpilot.system.ui.widgets.label import MiciLabel diff --git a/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py b/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py index 61aa52537..f2f482525 100644 --- a/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py +++ b/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py @@ -14,7 +14,7 @@ from openpilot.common.filter_simple import FirstOrderFilter class BlindSpotIndicators: def __init__(self): self._txt_blind_spot_left: rl.Texture = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 108, 128) - self._txt_blind_spot_right: rl.Texture = gui_app.texture('icons_mici/onroad/blind_spot_right.png', 108, 128) + self._txt_blind_spot_right: rl.Texture = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 108, 128, flip_x=True) self._blind_spot_left_alpha_filter = FirstOrderFilter(0, 0.15, 1 / gui_app.target_fps) self._blind_spot_right_alpha_filter = FirstOrderFilter(0, 0.15, 1 / gui_app.target_fps) diff --git a/selfdrive/ui/sunnypilot/onroad/turn_signal.py b/selfdrive/ui/sunnypilot/onroad/turn_signal.py index bd1aa7ee1..e28500936 100644 --- a/selfdrive/ui/sunnypilot/onroad/turn_signal.py +++ b/selfdrive/ui/sunnypilot/onroad/turn_signal.py @@ -34,8 +34,8 @@ class TurnSignalWidget(Widget): self._turn_signal_timer = 0.0 self._turn_signal_alpha_filter = FirstOrderFilter(0.0, 0.3, 1 / gui_app.target_fps) - self._signal_texture = gui_app.texture(f'icons_mici/onroad/turn_signal_{direction}.png', 120, 109) - self._blind_spot_texture = gui_app.texture(f'icons_mici/onroad/blind_spot_{direction}.png', 120, 109) + self._signal_texture = gui_app.texture('icons_mici/onroad/turn_signal_left.png', 120, 109, flip_x=(direction == IconSide.right)) + self._blind_spot_texture = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 120, 109, flip_x=(direction == IconSide.right)) self._texture = self._signal_texture def _render(self, _): diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore index 98f2a5e8c..74ab2675d 100644 --- a/selfdrive/ui/tests/.gitignore +++ b/selfdrive/ui/tests/.gitignore @@ -1,9 +1,2 @@ test test_translations -test_ui/report_1 -test_ui/raylib_report - -diff/*.mp4 -diff/*.html -diff/.coverage -diff/htmlcov/ diff --git a/selfdrive/ui/tests/diff/.gitignore b/selfdrive/ui/tests/diff/.gitignore new file mode 100644 index 000000000..e21a8d896 --- /dev/null +++ b/selfdrive/ui/tests/diff/.gitignore @@ -0,0 +1,2 @@ +report +.coverage diff --git a/selfdrive/ui/tests/diff/diff.py b/selfdrive/ui/tests/diff/diff.py index a581f6874..974edb42a 100755 --- a/selfdrive/ui/tests/diff/diff.py +++ b/selfdrive/ui/tests/diff/diff.py @@ -2,26 +2,27 @@ import os import sys import subprocess -import tempfile import webbrowser import argparse from pathlib import Path from openpilot.common.basedir import BASEDIR DIFF_OUT_DIR = Path(BASEDIR) / "selfdrive" / "ui" / "tests" / "diff" / "report" +HTML_TEMPLATE_PATH = Path(__file__).with_name("diff_template.html") -def extract_frames(video_path, output_dir): - output_pattern = str(output_dir / "frame_%04d.png") - cmd = ['ffmpeg', '-i', video_path, '-vsync', '0', output_pattern, '-y'] - subprocess.run(cmd, capture_output=True, check=True) - frames = sorted(output_dir.glob("frame_*.png")) - return frames - - -def compare_frames(frame1_path, frame2_path): - result = subprocess.run(['cmp', '-s', frame1_path, frame2_path]) - return result.returncode == 0 +def extract_framehashes(video_path): + cmd = ['ffmpeg', '-i', video_path, '-map', '0:v:0', '-vsync', '0', '-f', 'framehash', '-hash', 'md5', '-'] + result = subprocess.run(cmd, capture_output=True, text=True, check=True) + hashes = [] + for line in result.stdout.splitlines(): + if not line or line.startswith('#'): + continue + parts = line.split(',') + if len(parts) < 4: + continue + hashes.append(parts[-1].strip()) + return hashes def create_diff_video(video1, video2, output_path): @@ -31,38 +32,24 @@ def create_diff_video(video1, video2, output_path): subprocess.run(cmd, capture_output=True, check=True) -def find_differences(video1, video2): - with tempfile.TemporaryDirectory() as tmpdir: - tmpdir = Path(tmpdir) +def find_differences(video1, video2) -> tuple[list[int], tuple[int, int]]: + print(f"Hashing frames from {video1}...") + hashes1 = extract_framehashes(video1) - print(f"Extracting frames from {video1}...") - frames1_dir = tmpdir / "frames1" - frames1_dir.mkdir() - frames1 = extract_frames(video1, frames1_dir) + print(f"Hashing frames from {video2}...") + hashes2 = extract_framehashes(video2) - print(f"Extracting frames from {video2}...") - frames2_dir = tmpdir / "frames2" - frames2_dir.mkdir() - frames2 = extract_frames(video2, frames2_dir) + print(f"Comparing {len(hashes1)} frames...") + different_frames = [] - if len(frames1) != len(frames2): - print(f"WARNING: Frame count mismatch: {len(frames1)} vs {len(frames2)}") - min_frames = min(len(frames1), len(frames2)) - frames1 = frames1[:min_frames] - frames2 = frames2[:min_frames] + for i, (h1, h2) in enumerate(zip(hashes1, hashes2, strict=False)): + if h1 != h2: + different_frames.append(i) - print(f"Comparing {len(frames1)} frames...") - different_frames = [] - - for i, (f1, f2) in enumerate(zip(frames1, frames2, strict=False)): - is_different = not compare_frames(f1, f2) - if is_different: - different_frames.append(i) - - return different_frames, len(frames1) + return different_frames, (len(hashes1), len(hashes2)) -def generate_html_report(video1, video2, basedir, different_frames, total_frames): +def generate_html_report(videos: tuple[str, str], basedir: str, different_frames: list[int], frame_counts: tuple[int, int], diff_video_name): chunks = [] if different_frames: current_chunk = [different_frames[0]] @@ -74,71 +61,28 @@ def generate_html_report(video1, video2, basedir, different_frames, total_frames current_chunk = [different_frames[i]] chunks.append(current_chunk) + total_frames = max(frame_counts) + frame_delta = frame_counts[1] - frame_counts[0] + different_total = len(different_frames) + abs(frame_delta) + result_text = ( f"✅ Videos are identical! ({total_frames} frames)" - if len(different_frames) == 0 - else f"❌ Found {len(different_frames)} different frames out of {total_frames} total ({(len(different_frames) / total_frames * 100):.1f}%)" + if different_total == 0 + else f"❌ Found {different_total} different frames out of {total_frames} total ({different_total / total_frames * 100:.1f}%)." + + (f" Video {'2' if frame_delta > 0 else '1'} is longer by {abs(frame_delta)} frames." if frame_delta != 0 else "") ) - html = f"""

UI Diff

- - - - - - -
-

Video 1

- -		 -

Video 2

- -		 -

Pixel Diff

- -
- -
-

Results: {result_text}

-""" + # Load HTML template and replace placeholders + html = HTML_TEMPLATE_PATH.read_text() + placeholders = { + "VIDEO1_SRC": os.path.join(basedir, os.path.basename(videos[0])), + "VIDEO2_SRC": os.path.join(basedir, os.path.basename(videos[1])), + "DIFF_SRC": os.path.join(basedir, diff_video_name), + "RESULT_TEXT": result_text, + } + for key, value in placeholders.items(): + html = html.replace(f"${key}", value) + return html @@ -152,6 +96,9 @@ def main(): args = parser.parse_args() + if not args.output.lower().endswith('.html'): + args.output += '.html' + os.makedirs(DIFF_OUT_DIR, exist_ok=True) print("=" * 60) @@ -162,18 +109,19 @@ def main(): print(f"Output: {args.output}") print() - # Create diff video - diff_video_path = os.path.join(os.path.dirname(args.output), DIFF_OUT_DIR / "diff.mp4") + # Create diff video with name derived from output HTML + diff_video_name = Path(args.output).stem + '.mp4' + diff_video_path = str(DIFF_OUT_DIR / diff_video_name) create_diff_video(args.video1, args.video2, diff_video_path) - different_frames, total_frames = find_differences(args.video1, args.video2) + different_frames, frame_counts = find_differences(args.video1, args.video2) if different_frames is None: sys.exit(1) print() print("Generating HTML report...") - html = generate_html_report(args.video1, args.video2, args.basedir, different_frames, total_frames) + html = generate_html_report((args.video1, args.video2), args.basedir, different_frames, frame_counts, diff_video_name) with open(DIFF_OUT_DIR / args.output, 'w') as f: f.write(html) @@ -183,7 +131,8 @@ def main(): print(f"Opening {args.output} in browser...") webbrowser.open(f'file://{os.path.abspath(DIFF_OUT_DIR / args.output)}') - return 0 if len(different_frames) == 0 else 1 + extra_frames = abs(frame_counts[0] - frame_counts[1]) + return 0 if (len(different_frames) + extra_frames) == 0 else 1 if __name__ == "__main__": diff --git a/selfdrive/ui/tests/diff/diff_template.html b/selfdrive/ui/tests/diff/diff_template.html new file mode 100644 index 000000000..3f1de1051 --- /dev/null +++ b/selfdrive/ui/tests/diff/diff_template.html @@ -0,0 +1,80 @@ + + + + + + UI Diff Report + + + +

UI Diff

+
+
+

Results: $RESULT_TEXT

+ + + diff --git a/selfdrive/ui/tests/diff/replay.py b/selfdrive/ui/tests/diff/replay.py index ce24bf919..c69789730 100755 --- a/selfdrive/ui/tests/diff/replay.py +++ b/selfdrive/ui/tests/diff/replay.py @@ -1,42 +1,21 @@ #!/usr/bin/env python3 import os -import time +import argparse import coverage import pyray as rl -from dataclasses import dataclass -from openpilot.selfdrive.ui.tests.diff.diff import DIFF_OUT_DIR - -os.environ["RECORD"] = "1" -if "RECORD_OUTPUT" not in os.environ: - os.environ["RECORD_OUTPUT"] = "mici_ui_replay.mp4" - -os.environ["RECORD_OUTPUT"] = os.path.join(DIFF_OUT_DIR, os.environ["RECORD_OUTPUT"]) +from typing import Literal +from collections.abc import Callable +from cereal.messaging import PubMaster from openpilot.common.params import Params +from openpilot.common.prefix import OpenpilotPrefix +from openpilot.selfdrive.ui.tests.diff.diff import DIFF_OUT_DIR from openpilot.system.version import terms_version, training_version, terms_version_sp, sunnylink_consent_version -from openpilot.system.ui.lib.application import gui_app, MousePos, MouseEvent -from openpilot.selfdrive.ui.ui_state import ui_state -from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout + +LayoutVariant = Literal["mici", "tizi"] FPS = 60 -HEADLESS = os.getenv("WINDOWED", "0") == "1" - - -@dataclass -class DummyEvent: - click: bool = False - # TODO: add some kind of intensity - swipe_left: bool = False - swipe_right: bool = False - swipe_down: bool = False - - -SCRIPT = [ - (0, DummyEvent()), - (FPS * 1, DummyEvent(click=True)), - (FPS * 2, DummyEvent(click=True)), - (FPS * 3, DummyEvent()), -] +HEADLESS = os.getenv("WINDOWED", "0") != "1" def setup_state(): @@ -47,66 +26,66 @@ def setup_state(): params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30") params.put("HasAcceptedTermsSP", terms_version_sp) params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version) - return None -def inject_click(coords): - events = [] - x, y = coords[0] - events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=True, left_released=False, left_down=False, t=time.monotonic())) - for x, y in coords[1:]: - events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=False, left_down=True, t=time.monotonic())) - x, y = coords[-1] - events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=True, left_down=False, t=time.monotonic())) +def run_replay(variant: LayoutVariant) -> None: + if HEADLESS: + rl.set_config_flags(rl.ConfigFlags.FLAG_WINDOW_HIDDEN) + os.environ["OFFSCREEN"] = "1" # Run UI without FPS limit (set before importing gui_app) - with gui_app._mouse._lock: - gui_app._mouse._events.extend(events) - - -def handle_event(event: DummyEvent): - if event.click: - inject_click([(gui_app.width // 2, gui_app.height // 2)]) - if event.swipe_left: - inject_click([(gui_app.width * 3 // 4, gui_app.height // 2), - (gui_app.width // 4, gui_app.height // 2), - (0, gui_app.height // 2)]) - if event.swipe_right: - inject_click([(gui_app.width // 4, gui_app.height // 2), - (gui_app.width * 3 // 4, gui_app.height // 2), - (gui_app.width, gui_app.height // 2)]) - if event.swipe_down: - inject_click([(gui_app.width // 2, gui_app.height // 4), - (gui_app.width // 2, gui_app.height * 3 // 4), - (gui_app.width // 2, gui_app.height)]) - - -def run_replay(): setup_state() os.makedirs(DIFF_OUT_DIR, exist_ok=True) - if not HEADLESS: - rl.set_config_flags(rl.FLAG_WINDOW_HIDDEN) - gui_app.init_window("ui diff test", fps=FPS) - main_layout = MiciMainLayout() - main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) + from openpilot.selfdrive.ui.ui_state import ui_state # Import within OpenpilotPrefix context so param values are setup correctly + from openpilot.system.ui.lib.application import gui_app # Import here for accurate coverage + from openpilot.selfdrive.ui.tests.diff.replay_script import build_script - frame = 0 + gui_app.init_window("ui diff test", fps=FPS) + + # Dynamically import main layout based on variant + if variant == "mici": + from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout as MainLayout + else: + from openpilot.selfdrive.ui.layouts.main import MainLayout + main_layout = MainLayout() + + pm = PubMaster(["deviceState", "pandaStates", "driverStateV2", "selfdriveState"]) + script = build_script(pm, main_layout, variant) script_index = 0 - for should_render in gui_app.render(): - while script_index < len(SCRIPT) and SCRIPT[script_index][0] == frame: - _, event = SCRIPT[script_index] - handle_event(event) + send_fn: Callable | None = None + frame = 0 + # Override raylib timing functions to return deterministic values based on frame count instead of real time + rl.get_frame_time = lambda: 1.0 / FPS + rl.get_time = lambda: frame / FPS + + # Main loop to replay events and render frames + for _ in gui_app.render(): + # Handle all events for the current frame + while script_index < len(script) and script[script_index][0] == frame: + _, event = script[script_index] + # Call setup function, if any + if event.setup: + event.setup() + # Send mouse events to the application + if event.mouse_events: + with gui_app._mouse._lock: + gui_app._mouse._events.extend(event.mouse_events) + # Update persistent send function + if event.send_fn is not None: + send_fn = event.send_fn + # Move to next script event script_index += 1 + # Keep sending cereal messages for persistent states (onroad, alerts) + if send_fn: + send_fn() + ui_state.update() - if should_render: - main_layout.render() - frame += 1 - if script_index >= len(SCRIPT): + if script_index >= len(script): break gui_app.close() @@ -116,14 +95,35 @@ def run_replay(): def main(): - cov = coverage.coverage(source=['openpilot.selfdrive.ui.mici']) - with cov.collect(): - run_replay() - cov.stop() - cov.save() - cov.report() - cov.html_report(directory=os.path.join(DIFF_OUT_DIR, 'htmlcov')) - print("HTML report: htmlcov/index.html") + parser = argparse.ArgumentParser() + parser.add_argument('--big', action='store_true', help='Use big UI layout (tizi/tici) instead of mici layout') + args = parser.parse_args() + + variant: LayoutVariant = 'tizi' if args.big else 'mici' + + if args.big: + os.environ["BIG"] = "1" + os.environ["RECORD"] = "1" + os.environ["RECORD_QUALITY"] = "0" # Use CRF 0 ("lossless" encode) for deterministic output across different machines + os.environ["RECORD_OUTPUT"] = os.path.join(DIFF_OUT_DIR, os.environ.get("RECORD_OUTPUT", f"{variant}_ui_replay.mp4")) + + print(f"Running {variant} UI replay...") + with OpenpilotPrefix(): + sources = ["openpilot.system.ui"] + if variant == "mici": + sources.append("openpilot.selfdrive.ui.mici") + omit = ["**/*tizi*", "**/*tici*"] # exclude files containing "tizi" or "tici" + else: + sources.extend(["openpilot.selfdrive.ui.layouts", "openpilot.selfdrive.ui.onroad", "openpilot.selfdrive.ui.widgets"]) + omit = ["**/*mici*"] # exclude files containing "mici" + cov = coverage.Coverage(source=sources, omit=omit) + with cov.collect(): + run_replay(variant) + cov.save() + cov.report() + directory = os.path.join(DIFF_OUT_DIR, f"htmlcov-{variant}") + cov.html_report(directory=directory) + print(f"HTML report: {directory}/index.html") if __name__ == "__main__": diff --git a/selfdrive/ui/tests/diff/replay_script.py b/selfdrive/ui/tests/diff/replay_script.py new file mode 100644 index 000000000..9f2104ec4 --- /dev/null +++ b/selfdrive/ui/tests/diff/replay_script.py @@ -0,0 +1,249 @@ +from __future__ import annotations +from typing import TYPE_CHECKING +from collections.abc import Callable +from dataclasses import dataclass + +from cereal import car, log, messaging +from cereal.messaging import PubMaster +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert +from openpilot.selfdrive.ui.tests.diff.replay import FPS, LayoutVariant +from openpilot.system.updated.updated import parse_release_notes + +WAIT = int(FPS * 0.5) # Default frames to wait after events + +AlertSize = log.SelfdriveState.AlertSize +AlertStatus = log.SelfdriveState.AlertStatus + +BRANCH_NAME = "this-is-a-really-super-mega-ultra-max-extreme-ultimate-long-branch-name" + + +@dataclass +class ScriptEvent: + if TYPE_CHECKING: + # Only import for type checking to avoid excluding the application code from coverage + from openpilot.system.ui.lib.application import MouseEvent + + setup: Callable | None = None # Setup function to run prior to adding mouse events + mouse_events: list[MouseEvent] | None = None # Mouse events to send to the application on this event's frame + send_fn: Callable | None = None # When set, the main loop uses this as the new persistent sender + + +ScriptEntry = tuple[int, ScriptEvent] # (frame, event) + + +class Script: + def __init__(self, fps: int) -> None: + self.fps = fps + self.frame = 0 + self.entries: list[ScriptEntry] = [] + + def get_frame_time(self) -> float: + return self.frame / self.fps + + def add(self, event: ScriptEvent, before: int = 0, after: int = 0) -> None: + """Add event to the script, optionally with the given number of frames to wait before or after the event.""" + self.frame += before + self.entries.append((self.frame, event)) + self.frame += after + + def end(self) -> None: + """Add a final empty event to mark the end of the script.""" + self.add(ScriptEvent()) # Without this, it will just end on the last event without waiting for any specified delay after it + + def wait(self, frames: int) -> None: + """Add a delay for the given number of frames followed by an empty event.""" + self.add(ScriptEvent(), before=frames) + + def setup(self, fn: Callable, wait_after: int = WAIT) -> None: + """Add a setup function to be called immediately followed by a delay of the given number of frames.""" + self.add(ScriptEvent(setup=fn), after=wait_after) + + def set_send(self, fn: Callable, wait_after: int = WAIT) -> None: + """Set a new persistent send function to be called every frame.""" + self.add(ScriptEvent(send_fn=fn), after=wait_after) + + # TODO: Also add more complex gestures, like swipe or drag + def click(self, x: int, y: int, wait_after: int = WAIT, wait_between: int = 2) -> None: + """Add a click event to the script for the given position and specify frames to wait between mouse events or after the click.""" + # NOTE: By default we wait a couple frames between mouse events so pressed states will be rendered + from openpilot.system.ui.lib.application import MouseEvent, MousePos + + # TODO: Add support for long press (left_down=True) + mouse_down = MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=True, left_released=False, left_down=False, t=self.get_frame_time()) + self.add(ScriptEvent(mouse_events=[mouse_down]), after=wait_between) + mouse_up = MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=True, left_down=False, t=self.get_frame_time()) + self.add(ScriptEvent(mouse_events=[mouse_up]), after=wait_after) + + +# --- Setup functions --- + +def put_update_params(params: Params | None = None) -> None: + if params is None: + params = Params() + params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR)) + params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR)) + params.put("UpdaterTargetBranch", BRANCH_NAME) + + +def setup_offroad_alerts() -> None: + put_update_params(Params()) + set_offroad_alert("Offroad_TemperatureTooHigh", True, extra_text='99C') + set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text='longitudinal') + set_offroad_alert("Offroad_IsTakingSnapshot", True) + + +def setup_update_available() -> None: + params = Params() + params.put_bool("UpdateAvailable", True) + params.put("UpdaterNewDescription", f"0.10.2 / {BRANCH_NAME} / 0a1b2c3 / Jan 01") + put_update_params(params) + + +def setup_developer_params() -> None: + CP = car.CarParams() + CP.alphaLongitudinalAvailable = True + Params().put("CarParamsPersistent", CP.to_bytes()) + + +# --- Send functions --- + +def send_onroad(pm: PubMaster) -> None: + ds = messaging.new_message('deviceState') + ds.deviceState.started = True + ds.deviceState.networkType = log.DeviceState.NetworkType.wifi + + ps = messaging.new_message('pandaStates', 1) + ps.pandaStates[0].pandaType = log.PandaState.PandaType.dos + ps.pandaStates[0].ignitionLine = True + + pm.send('deviceState', ds) + pm.send('pandaStates', ps) + + +def make_network_state_setup(pm: PubMaster, network_type) -> Callable: + def _send() -> None: + ds = messaging.new_message('deviceState') + ds.deviceState.networkType = network_type + pm.send('deviceState', ds) + return _send + + +def make_alert_setup(pm: PubMaster, size, text1, text2, status) -> Callable: + def _send() -> None: + send_onroad(pm) + alert = messaging.new_message('selfdriveState') + ss = alert.selfdriveState + ss.alertSize = size + ss.alertText1 = text1 + ss.alertText2 = text2 + ss.alertStatus = status + pm.send('selfdriveState', alert) + return _send + + +# --- Script builders --- + +def build_mici_script(pm: PubMaster, main_layout, script: Script) -> None: + """Build the replay script for the mici layout.""" + from openpilot.system.ui.lib.application import gui_app + + center = (gui_app.width // 2, gui_app.height // 2) + + # TODO: Explore more + script.wait(FPS) + script.click(*center, FPS) # Open settings + script.click(*center, FPS) # Open toggles + script.end() + + +def build_tizi_script(pm: PubMaster, main_layout, script: Script) -> None: + """Build the replay script for the tizi layout.""" + + def make_home_refresh_setup(fn: Callable) -> Callable: + """Return setup function that calls the given function to modify state and forces an immediate refresh on the home layout.""" + from openpilot.selfdrive.ui.layouts.main import MainState + + def setup(): + fn() + main_layout._layouts[MainState.HOME].last_refresh = 0 + + return setup + + # TODO: Better way of organizing the events + + # === Homescreen === + script.set_send(make_network_state_setup(pm, log.DeviceState.NetworkType.wifi)) + + # === Offroad Alerts (auto-transitions via HomeLayout refresh) === + script.setup(make_home_refresh_setup(setup_offroad_alerts)) + + # === Update Available (auto-transitions via HomeLayout refresh) === + script.setup(make_home_refresh_setup(setup_update_available)) + + # === Settings - Device (click sidebar settings button) === + script.click(150, 90) + script.click(1985, 790) # reset calibration confirmation + script.click(650, 750) # cancel + + # === Settings - Network === + script.click(278, 450) + script.click(1880, 100) # advanced network settings + script.click(630, 80) # back + + # === Settings - Toggles === + script.click(278, 600) + script.click(1200, 280) # experimental mode description + + # === Settings - Software === + script.setup(put_update_params, wait_after=0) + script.click(278, 720) + + # === Settings - Firehose === + script.click(278, 845) + + # === Settings - Developer (set CarParamsPersistent first) === + script.setup(setup_developer_params, wait_after=0) + script.click(278, 950) + script.click(2000, 960) # toggle alpha long + script.click(1500, 875) # confirm + + # === Keyboard modal (SSH keys button in developer panel) === + script.click(1930, 470) # click SSH keys + script.click(1930, 115) # click cancel on keyboard + + # === Close settings === + script.click(250, 160) + + # === Onroad === + script.set_send(lambda: send_onroad(pm)) + script.click(1000, 500) # click onroad to toggle sidebar + + # === Onroad alerts === + # Small alert (normal) + script.set_send(make_alert_setup(pm, AlertSize.small, "Small Alert", "This is a small alert", AlertStatus.normal)) + # Medium alert (userPrompt) + script.set_send(make_alert_setup(pm, AlertSize.mid, "Medium Alert", "This is a medium alert", AlertStatus.userPrompt)) + # Full alert (critical) + script.set_send(make_alert_setup(pm, AlertSize.full, "DISENGAGE IMMEDIATELY", "Driver Distracted", AlertStatus.critical)) + # Full alert multiline + script.set_send(make_alert_setup(pm, AlertSize.full, "Reverse\nGear", "", AlertStatus.normal)) + # Full alert long text + script.set_send(make_alert_setup(pm, AlertSize.full, "TAKE CONTROL IMMEDIATELY", "Calibration Invalid: Remount Device & Recalibrate", AlertStatus.userPrompt)) + + # End + script.end() + + +def build_script(pm: PubMaster, main_layout, variant: LayoutVariant) -> list[ScriptEntry]: + """Build the replay script for the appropriate layout variant and return list of script entries.""" + print(f"Building {variant} replay script...") + + script = Script(FPS) + builder = build_tizi_script if variant == 'tizi' else build_mici_script + builder(pm, main_layout, script) + + print(f"Built replay script with {len(script.entries)} events and {script.frame} frames ({script.get_frame_time():.2f} seconds)") + + return script.entries diff --git a/selfdrive/ui/tests/profile_onroad.py b/selfdrive/ui/tests/profile_onroad.py index fde4f25ff..18194d736 100755 --- a/selfdrive/ui/tests/profile_onroad.py +++ b/selfdrive/ui/tests/profile_onroad.py @@ -83,7 +83,6 @@ if __name__ == "__main__": gui_app.init_window("UI Profiling", fps=600) main_layout = MiciMainLayout() - main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) print("Running...") patch_submaster(message_chunks) @@ -95,15 +94,13 @@ if __name__ == "__main__": yuv_buffer_size = W * H + (W // 2) * (H // 2) * 2 yuv_data = np.random.randint(0, 256, yuv_buffer_size, dtype=np.uint8).tobytes() with cProfile.Profile() as pr: - for should_render in gui_app.render(): + for _ in gui_app.render(): if ui_state.sm.frame >= len(message_chunks): break if ui_state.sm.frame % 3 == 0: eof = int((ui_state.sm.frame % 3) * 0.05 * 1e9) vipc.send(VisionStreamType.VISION_STREAM_ROAD, yuv_data, ui_state.sm.frame % 3, eof, eof) ui_state.update() - if should_render: - main_layout.render() pr.dump_stats(f'{args.output}_deterministic.stats') rl.close_window() diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index 3177814f9..599c99013 100644 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -5,7 +5,7 @@ import re import xml.etree.ElementTree as ET import string import requests -from parameterized import parameterized_class +from openpilot.common.parameterized import parameterized_class from openpilot.system.ui.lib.multilang import TRANSLATIONS_DIR, LANGUAGES_FILE with open(str(LANGUAGES_FILE)) as f: diff --git a/selfdrive/ui/tests/test_ui/print_mouse_coords.py b/selfdrive/ui/tests/test_ui/print_mouse_coords.py deleted file mode 100755 index 1e88ce57d..000000000 --- a/selfdrive/ui/tests/test_ui/print_mouse_coords.py +++ /dev/null @@ -1,36 +0,0 @@ -#!/usr/bin/env python3 -""" -Simple script to print mouse coordinates on Ubuntu. -Run with: python print_mouse_coords.py -Press Ctrl+C to exit. -""" - -from pynput import mouse - -print("Mouse coordinate printer - Press Ctrl+C to exit") -print("Click to set the top left origin") - -origin: tuple[int, int] | None = None -clicks: list[tuple[int, int]] = [] - - -def on_click(x, y, button, pressed): - global origin, clicks - if pressed: # Only on mouse down, not up - if origin is None: - origin = (x, y) - print(f"Origin set to: {x},{y}") - else: - rel_x = x - origin[0] - rel_y = y - origin[1] - clicks.append((rel_x, rel_y)) - print(f"Clicks: {clicks}") - - -if __name__ == "__main__": - try: - # Start mouse listener - with mouse.Listener(on_click=on_click) as listener: - listener.join() - except KeyboardInterrupt: - print("\nExiting...") diff --git a/selfdrive/ui/tests/test_ui/raylib_screenshots.py b/selfdrive/ui/tests/test_ui/raylib_screenshots.py deleted file mode 100755 index cd27b1c12..000000000 --- a/selfdrive/ui/tests/test_ui/raylib_screenshots.py +++ /dev/null @@ -1,395 +0,0 @@ -#!/usr/bin/env python3 -import os -import sys -import shutil -import time -import pathlib -from collections import namedtuple - -import pyautogui -import pywinctl - -from cereal import car, log -from cereal import messaging -from cereal.messaging import PubMaster -from openpilot.common.basedir import BASEDIR -from openpilot.common.params import Params -from openpilot.common.prefix import OpenpilotPrefix -from openpilot.selfdrive.test.helpers import with_processes -from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert -from openpilot.system.updated.updated import parse_release_notes -from openpilot.system.version import terms_version, training_version, terms_version_sp, sunnylink_consent_version - -AlertSize = log.SelfdriveState.AlertSize -AlertStatus = log.SelfdriveState.AlertStatus - -TEST_DIR = pathlib.Path(__file__).parent -TEST_OUTPUT_DIR = TEST_DIR / "raylib_report" -SCREENSHOTS_DIR = TEST_OUTPUT_DIR / "screenshots" -UI_DELAY = 0.5 - -BRANCH_NAME = "this-is-a-really-super-mega-ultra-max-extreme-ultimate-long-branch-name" -VERSION = f"0.10.1 / {BRANCH_NAME} / 7864838 / Oct 03" - -# Offroad alerts to test -OFFROAD_ALERTS = ['Offroad_IsTakingSnapshot'] - - -def put_update_params(params: Params): - params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR)) - params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR)) - params.put("UpdaterTargetBranch", BRANCH_NAME) - - -def setup_homescreen(click, pm: PubMaster, scroll=None): - pass - - -def setup_homescreen_update_available(click, pm: PubMaster, scroll=None): - params = Params() - params.put_bool("UpdateAvailable", True) - put_update_params(params) - setup_offroad_alert(click, pm) - - -def setup_settings(click, pm: PubMaster, scroll=None): - click(100, 100) - - -def close_settings(click, pm: PubMaster, scroll=None): - click(140, 120) - - -def setup_settings_network(click, pm: PubMaster, scroll=None): - setup_settings(click, pm) - click(278, 450) - - -def setup_settings_network_advanced(click, pm: PubMaster, scroll=None): - setup_settings_network(click, pm, scroll=scroll) - click(1880, 100) - - -def setup_settings_toggles(click, pm: PubMaster, scroll=None): - setup_settings(click, pm) - click(278, 620) - - -def setup_settings_software(click, pm: PubMaster, scroll=None): - put_update_params(Params()) - setup_settings(click, pm) - click(278, 730) - - -def setup_settings_software_download(click, pm: PubMaster, scroll=None): - params = Params() - # setup_settings_software but with "DOWNLOAD" button to test long text - params.put("UpdaterState", "idle") - params.put_bool("UpdaterFetchAvailable", True) - setup_settings_software(click, pm) - - -def setup_settings_software_release_notes(click, pm: PubMaster, scroll=None): - setup_settings_software(click, pm, scroll=scroll) - click(588, 110) # expand description for current version - - -def setup_settings_software_branch_switcher(click, pm: PubMaster, scroll=None): - setup_settings_software(click, pm, scroll=scroll) - params = Params() - params.put("UpdaterAvailableBranches", f"master,nightly,release,{BRANCH_NAME}") - params.put("GitBranch", BRANCH_NAME) # should be on top - params.put("UpdaterTargetBranch", "nightly") # should be selected - click(1984, 449) - - -def setup_settings_firehose(click, pm: PubMaster, scroll=None): - setup_settings(click, pm) - scroll(-20, 278, 950) - click(278, 850) - - -def setup_settings_developer(click, pm: PubMaster, scroll=None): - CP = car.CarParams() - CP.alphaLongitudinalAvailable = True # show alpha long control toggle - Params().put("CarParamsPersistent", CP.to_bytes()) - - setup_settings(click, pm) - scroll(-20, 278, 950) - click(278, 950) - - -def setup_keyboard(click, pm: PubMaster, scroll=None): - setup_settings_developer(click, pm, scroll=scroll) - click(1930, 470) - - -def setup_pair_device(click, pm: PubMaster, scroll=None): - click(1950, 800) - - -def setup_offroad_alert(click, pm: PubMaster, scroll=None): - put_update_params(Params()) - set_offroad_alert("Offroad_TemperatureTooHigh", True, extra_text='99C') - set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text='longitudinal') - for alert in OFFROAD_ALERTS: - set_offroad_alert(alert, True) - - setup_settings(click, pm) - close_settings(click, pm) - - -def setup_confirmation_dialog(click, pm: PubMaster, scroll=None): - setup_settings(click, pm) - click(1985, 791) # reset calibration - - -def setup_experimental_mode_description(click, pm: PubMaster, scroll=None): - setup_settings_toggles(click, pm) - click(1200, 280) # expand description for experimental mode - - -def setup_openpilot_long_confirmation_dialog(click, pm: PubMaster, scroll=None): - setup_settings_developer(click, pm, scroll=scroll) - click(650, 960) # toggle sunnypilot longitudinal control - - -def setup_settings_sunnylink(click, pm: PubMaster, scroll=None): - setup_settings(click, pm) - click(278, 510) - - -def setup_settings_models(click, pm: PubMaster, scroll=None): - setup_settings(click, pm) - click(278, 840) - - -def setup_settings_steering(click, pm: PubMaster, scroll=None): - setup_settings(click, pm) - click(278, 950) - - -def setup_settings_cruise(click, pm: PubMaster, scroll=None): - setup_settings(click, pm) - scroll(-4, 278, 950) - click(278, 860) - - -def setup_settings_visuals(click, pm: PubMaster, scroll=None): - setup_settings(click, pm) - scroll(-20, 278, 950) - click(278, 330) - - -def setup_settings_display(click, pm: PubMaster, scroll=None): - setup_settings(click, pm) - scroll(-20, 278, 950) - click(278, 420) - - -def setup_settings_osm(click, pm: PubMaster, scroll=None): - setup_settings(click, pm) - scroll(-20, 278, 950) - click(278, 520) - - -def setup_settings_trips(click, pm: PubMaster, scroll=None): - setup_settings(click, pm) - scroll(-20, 278, 950) - click(278, 630) - - -def setup_settings_vehicle(click, pm: PubMaster, scroll=None): - setup_settings(click, pm) - scroll(-20, 278, 950) - click(278, 750) - - -def setup_onroad(click, pm: PubMaster, scroll=None): - ds = messaging.new_message('deviceState') - ds.deviceState.started = True - - ps = messaging.new_message('pandaStates', 1) - ps.pandaStates[0].pandaType = log.PandaState.PandaType.dos - ps.pandaStates[0].ignitionLine = True - - driverState = messaging.new_message('driverStateV2') - driverState.driverStateV2.leftDriverData.faceOrientation = [0, 0, 0] - - for _ in range(5): - pm.send('deviceState', ds) - pm.send('pandaStates', ps) - pm.send('driverStateV2', driverState) - ds.clear_write_flag() - ps.clear_write_flag() - driverState.clear_write_flag() - time.sleep(0.05) - - -def setup_onroad_sidebar(click, pm: PubMaster, scroll=None): - setup_onroad(click, pm) - click(100, 100) # open sidebar - - -def setup_onroad_alert(click, pm: PubMaster, size: log.SelfdriveState.AlertSize, text1: str, text2: str, status: log.SelfdriveState.AlertStatus): - setup_onroad(click, pm) - alert = messaging.new_message('selfdriveState') - ss = alert.selfdriveState - ss.alertSize = size - ss.alertText1 = text1 - ss.alertText2 = text2 - ss.alertStatus = status - for _ in range(5): - pm.send('selfdriveState', alert) - alert.clear_write_flag() - time.sleep(0.05) - - -def setup_onroad_small_alert(click, pm: PubMaster, scroll=None): - setup_onroad_alert(click, pm, AlertSize.small, "Small Alert", "This is a small alert", AlertStatus.normal) - - -def setup_onroad_medium_alert(click, pm: PubMaster, scroll=None): - setup_onroad_alert(click, pm, AlertSize.mid, "Medium Alert", "This is a medium alert", AlertStatus.userPrompt) - - -def setup_onroad_full_alert(click, pm: PubMaster, scroll=None): - setup_onroad_alert(click, pm, AlertSize.full, "DISENGAGE IMMEDIATELY", "Driver Distracted", AlertStatus.critical) - - -def setup_onroad_full_alert_multiline(click, pm: PubMaster, scroll=None): - setup_onroad_alert(click, pm, AlertSize.full, "Reverse\nGear", "", AlertStatus.normal) - - -def setup_onroad_full_alert_long_text(click, pm: PubMaster, scroll=None): - setup_onroad_alert(click, pm, AlertSize.full, "TAKE CONTROL IMMEDIATELY", "Calibration Invalid: Remount Device & Recalibrate", AlertStatus.userPrompt) - - -CASES = { - "homescreen": setup_homescreen, - "homescreen_paired": setup_homescreen, - "homescreen_prime": setup_homescreen, - "homescreen_update_available": setup_homescreen_update_available, - "homescreen_unifont": setup_homescreen, - "settings_device": setup_settings, - "settings_network": setup_settings_network, - "settings_network_advanced": setup_settings_network_advanced, - "settings_toggles": setup_settings_toggles, - "settings_software": setup_settings_software, - "settings_software_download": setup_settings_software_download, - "settings_software_release_notes": setup_settings_software_release_notes, - "settings_software_branch_switcher": setup_settings_software_branch_switcher, - "settings_firehose": setup_settings_firehose, - "settings_developer": setup_settings_developer, - "keyboard": setup_keyboard, - "pair_device": setup_pair_device, - "offroad_alert": setup_offroad_alert, - "confirmation_dialog": setup_confirmation_dialog, - "experimental_mode_description": setup_experimental_mode_description, - "openpilot_long_confirmation_dialog": setup_openpilot_long_confirmation_dialog, - "onroad": setup_onroad, - "onroad_sidebar": setup_onroad_sidebar, - "onroad_small_alert": setup_onroad_small_alert, - "onroad_medium_alert": setup_onroad_medium_alert, - "onroad_full_alert": setup_onroad_full_alert, - "onroad_full_alert_multiline": setup_onroad_full_alert_multiline, - "onroad_full_alert_long_text": setup_onroad_full_alert_long_text, -} - -# sunnypilot cases -CASES.update({ - "settings_sunnylink": setup_settings_sunnylink, - "settings_models": setup_settings_models, - "settings_steering": setup_settings_steering, - "settings_cruise": setup_settings_cruise, - "settings_visuals": setup_settings_visuals, - "settings_display": setup_settings_display, - "settings_osm": setup_settings_osm, - "settings_trips": setup_settings_trips, - "settings_vehicle": setup_settings_vehicle, -}) - - -class TestUI: - def __init__(self): - os.environ["SCALE"] = os.getenv("SCALE", "1") - os.environ["BIG"] = "1" - sys.modules["mouseinfo"] = False - - def setup(self): - # Seed minimal offroad state - self.pm = PubMaster(["deviceState", "pandaStates", "driverStateV2", "selfdriveState"]) - ds = messaging.new_message('deviceState') - ds.deviceState.networkType = log.DeviceState.NetworkType.wifi - for _ in range(5): - self.pm.send('deviceState', ds) - ds.clear_write_flag() - time.sleep(0.05) - time.sleep(0.5) - try: - self.ui = pywinctl.getWindowsWithTitle("UI")[0] - except Exception as e: - print(f"failed to find ui window, assuming that it's in the top left (for Xvfb) {e}") - self.ui = namedtuple("bb", ["left", "top", "width", "height"])(0, 0, 2160, 1080) - - def screenshot(self, name: str): - full_screenshot = pyautogui.screenshot() - cropped = full_screenshot.crop((self.ui.left, self.ui.top, self.ui.left + self.ui.width, self.ui.top + self.ui.height)) - cropped.save(SCREENSHOTS_DIR / f"{name}.png") - - def click(self, x: int, y: int, *args, **kwargs): - pyautogui.mouseDown(self.ui.left + x, self.ui.top + y, *args, **kwargs) - time.sleep(0.01) - pyautogui.mouseUp(self.ui.left + x, self.ui.top + y, *args, **kwargs) - - def scroll(self, clicks: int, x, y, *args, **kwargs): - if clicks == 0: - return - click = -1 if clicks < 0 else 1 # -1 = down, 1 = up - for _ in range(abs(clicks)): - pyautogui.scroll(click, self.ui.left + x, self.ui.top + y, *args, **kwargs) # scroll for individual clicks since we need to delay between clicks - time.sleep(0.01) # small delay between scroll clicks to work properly - time.sleep(2) # wait for scroll to fully settle - - @with_processes(["ui"]) - def test_ui(self, name, setup_case): - self.setup() - time.sleep(UI_DELAY) # wait for UI to start - setup_case(self.click, self.pm, self.scroll) - self.screenshot(name) - - -def create_screenshots(): - if TEST_OUTPUT_DIR.exists(): - shutil.rmtree(TEST_OUTPUT_DIR) - SCREENSHOTS_DIR.mkdir(parents=True) - - t = TestUI() - for name, setup in CASES.items(): - with OpenpilotPrefix(): - params = Params() - params.put("DongleId", "123456789012345") - params.put("SunnylinkDongleId", "123456789012345") - - # Set branch name - params.put("UpdaterCurrentDescription", VERSION) - params.put("UpdaterNewDescription", VERSION) - - # Set terms and training version (to skip onboarding) - params.put("HasAcceptedTerms", terms_version) - params.put("CompletedTrainingVersion", training_version) - params.put("HasAcceptedTermsSP", terms_version_sp) - params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version) - - if name == "homescreen_paired": - params.put("PrimeType", 0) # NONE - elif name == "homescreen_prime": - params.put("PrimeType", 2) # LITE - elif name == "homescreen_unifont": - params.put("LanguageSetting", "zh-CHT") # Traditional Chinese - - t.test_ui(name, setup) - - -if __name__ == "__main__": - create_screenshots() diff --git a/selfdrive/ui/tests/test_ui/template.html b/selfdrive/ui/tests/test_ui/template.html deleted file mode 100644 index 68df5879e..000000000 --- a/selfdrive/ui/tests/test_ui/template.html +++ /dev/null @@ -1,34 +0,0 @@ - - - - -{% for name, (image, ref_image) in cases.items() %} - -

{{name}}

-
-
- -
-
- -
- -{% endfor %} - \ No newline at end of file diff --git a/selfdrive/ui/translations/potools.py b/selfdrive/ui/translations/potools.py new file mode 100644 index 000000000..7571cccdd --- /dev/null +++ b/selfdrive/ui/translations/potools.py @@ -0,0 +1,362 @@ +"""Pure Python tools for managing .po translation files. + +Replaces GNU gettext CLI tools (xgettext, msginit, msgmerge) with Python +implementations for extracting, creating, and updating .po files. +""" + +import ast +import os +import re +from dataclasses import dataclass, field +from datetime import UTC, datetime +from pathlib import Path + + +@dataclass +class POEntry: + msgid: str = "" + msgstr: str = "" + msgid_plural: str = "" + msgstr_plural: dict[int, str] = field(default_factory=dict) + comments: list[str] = field(default_factory=list) + source_refs: list[str] = field(default_factory=list) + flags: list[str] = field(default_factory=list) + + @property + def is_plural(self) -> bool: + return bool(self.msgid_plural) + + +# ──── PO file parsing ──── + +def _parse_quoted(s: str) -> str: + """Parse a PO-format quoted string, handling escape sequences.""" + s = s.strip() + if not (s.startswith('"') and s.endswith('"')): + raise ValueError(f"Expected quoted string: {s!r}") + s = s[1:-1] + result = [] + i = 0 + while i < len(s): + if s[i] == '\\' and i + 1 < len(s): + c = s[i + 1] + if c == 'n': + result.append('\n') + elif c == 't': + result.append('\t') + elif c == '"': + result.append('"') + elif c == '\\': + result.append('\\') + else: + result.append(s[i:i + 2]) + i += 2 + else: + result.append(s[i]) + i += 1 + return ''.join(result) + + +def parse_po(path: str | Path) -> tuple[POEntry | None, list[POEntry]]: + """Parse a .po/.pot file. Returns (header_entry, entries).""" + with open(path, encoding='utf-8') as f: + lines = f.readlines() + + entries: list[POEntry] = [] + header: POEntry | None = None + cur: POEntry | None = None + cur_field: str | None = None + plural_idx = 0 + + def finish(): + nonlocal cur, header + if cur is None: + return + if cur.msgid == "" and cur.msgstr: + header = cur + elif cur.msgid != "" or cur.is_plural: + entries.append(cur) + cur = None + + for raw in lines: + line = raw.rstrip('\n') + stripped = line.strip() + + if not stripped: + finish() + cur_field = None + continue + + # Skip obsolete entries + if stripped.startswith('#~'): + continue + + if stripped.startswith('#'): + if cur is None: + cur = POEntry() + if stripped.startswith('#:'): + cur.source_refs.append(stripped[2:].strip()) + elif stripped.startswith('#,'): + cur.flags.extend(f.strip() for f in stripped[2:].split(',') if f.strip()) + else: + cur.comments.append(line) + continue + + if stripped.startswith('msgid_plural '): + if cur is None: + cur = POEntry() + cur.msgid_plural = _parse_quoted(stripped[len('msgid_plural '):]) + cur_field = 'msgid_plural' + continue + + if stripped.startswith('msgid '): + if cur is None: + cur = POEntry() + cur.msgid = _parse_quoted(stripped[len('msgid '):]) + cur_field = 'msgid' + continue + + m = re.match(r'msgstr\[(\d+)]\s+(.*)', stripped) + if m: + plural_idx = int(m.group(1)) + cur.msgstr_plural[plural_idx] = _parse_quoted(m.group(2)) + cur_field = 'msgstr_plural' + continue + + if stripped.startswith('msgstr '): + cur.msgstr = _parse_quoted(stripped[len('msgstr '):]) + cur_field = 'msgstr' + continue + + if stripped.startswith('"'): + val = _parse_quoted(stripped) + if cur_field == 'msgid': + cur.msgid += val + elif cur_field == 'msgid_plural': + cur.msgid_plural += val + elif cur_field == 'msgstr': + cur.msgstr += val + elif cur_field == 'msgstr_plural': + cur.msgstr_plural[plural_idx] += val + + finish() + return header, entries + + +# ──── PO file writing ──── + +def _quote(s: str) -> str: + """Quote a string for .po file output.""" + s = s.replace('\\', '\\\\').replace('"', '\\"').replace('\t', '\\t') + if '\n' in s and s != '\n': + parts = s.split('\n') + lines = ['""'] + for i, part in enumerate(parts): + text = part + ('\\n' if i < len(parts) - 1 else '') + if text: + lines.append(f'"{text}"') + return '\n'.join(lines) + return f'"{s}"'.replace('\n', '\\n') + + +def write_po(path: str | Path, header: POEntry | None, entries: list[POEntry]) -> None: + """Write a .po/.pot file.""" + with open(path, 'w', encoding='utf-8') as f: + if header: + for c in header.comments: + f.write(c + '\n') + if header.flags: + f.write('#, ' + ', '.join(header.flags) + '\n') + f.write(f'msgid {_quote("")}\n') + f.write(f'msgstr {_quote(header.msgstr)}\n\n') + + for entry in entries: + for c in entry.comments: + f.write(c + '\n') + for ref in entry.source_refs: + f.write(f'#: {ref}\n') + if entry.flags: + f.write('#, ' + ', '.join(entry.flags) + '\n') + f.write(f'msgid {_quote(entry.msgid)}\n') + if entry.is_plural: + f.write(f'msgid_plural {_quote(entry.msgid_plural)}\n') + for idx in sorted(entry.msgstr_plural): + f.write(f'msgstr[{idx}] {_quote(entry.msgstr_plural[idx])}\n') + else: + f.write(f'msgstr {_quote(entry.msgstr)}\n') + f.write('\n') + + +# ──── String extraction (replaces xgettext) ──── + +def extract_strings(files: list[str], basedir: str) -> list[POEntry]: + """Extract tr/trn/tr_noop calls from Python source files.""" + seen: dict[str, POEntry] = {} + + for filepath in files: + full = os.path.join(basedir, filepath) + with open(full, encoding='utf-8') as f: + source = f.read() + try: + tree = ast.parse(source, filename=filepath) + except SyntaxError: + continue + + for node in ast.walk(tree): + if not isinstance(node, ast.Call): + continue + + func = node.func + if isinstance(func, ast.Name): + name = func.id + elif isinstance(func, ast.Attribute): + name = func.attr + else: + continue + + if name not in ('tr', 'trn', 'tr_noop'): + continue + + ref = f'{filepath}:{node.lineno}' + is_flagged = name in ('tr', 'trn') + + if name in ('tr', 'tr_noop'): + if not node.args or not isinstance(node.args[0], ast.Constant) or not isinstance(node.args[0].value, str): + continue + msgid = node.args[0].value + if msgid in seen: + if ref not in seen[msgid].source_refs: + seen[msgid].source_refs.append(ref) + else: + flags = ['python-format'] if is_flagged else [] + seen[msgid] = POEntry(msgid=msgid, source_refs=[ref], flags=flags) + + elif name == 'trn': + if len(node.args) < 2: + continue + a1, a2 = node.args[0], node.args[1] + if not (isinstance(a1, ast.Constant) and isinstance(a1.value, str)): + continue + if not (isinstance(a2, ast.Constant) and isinstance(a2.value, str)): + continue + msgid, msgid_plural = a1.value, a2.value + if msgid in seen: + if ref not in seen[msgid].source_refs: + seen[msgid].source_refs.append(ref) + else: + flags = ['python-format'] if is_flagged else [] + seen[msgid] = POEntry( + msgid=msgid, msgid_plural=msgid_plural, + source_refs=[ref], flags=flags, + msgstr_plural={0: '', 1: ''}, + ) + + return list(seen.values()) + + +# ──── POT generation ──── + +def generate_pot(entries: list[POEntry], pot_path: str | Path) -> None: + """Generate a .pot template file from extracted entries.""" + now = datetime.now(UTC).strftime('%Y-%m-%d %H:%M%z') + header = POEntry( + comments=[ + '# SOME DESCRIPTIVE TITLE.', + "# Copyright (C) YEAR THE PACKAGE'S COPYRIGHT HOLDER", + '# This file is distributed under the same license as the PACKAGE package.', + '# FIRST AUTHOR , YEAR.', + '#', + ], + flags=['fuzzy'], + msgstr='Project-Id-Version: PACKAGE VERSION\n' + + 'Report-Msgid-Bugs-To: \n' + + f'POT-Creation-Date: {now}\n' + + 'PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n' + + 'Last-Translator: FULL NAME \n' + + 'Language-Team: LANGUAGE \n' + + 'Language: \n' + + 'MIME-Version: 1.0\n' + + 'Content-Type: text/plain; charset=UTF-8\n' + + 'Content-Transfer-Encoding: 8bit\n' + + 'Plural-Forms: nplurals=INTEGER; plural=EXPRESSION;\n', + ) + write_po(pot_path, header, entries) + + +# ──── PO init (replaces msginit) ──── + +PLURAL_FORMS: dict[str, str] = { + 'en': 'nplurals=2; plural=(n != 1);', + 'de': 'nplurals=2; plural=(n != 1);', + 'fr': 'nplurals=2; plural=(n > 1);', + 'es': 'nplurals=2; plural=(n != 1);', + 'pt-BR': 'nplurals=2; plural=(n > 1);', + 'tr': 'nplurals=2; plural=(n != 1);', + 'uk': 'nplurals=3; plural=(n%10==1 && n%100!=11 ? 0 : n%10>=2 && n%10<=4 && (n%100<12 || n%100>14) ? 1 : 2);', + 'th': 'nplurals=1; plural=0;', + 'zh-CHT': 'nplurals=1; plural=0;', + 'zh-CHS': 'nplurals=1; plural=0;', + 'ko': 'nplurals=1; plural=0;', + 'ja': 'nplurals=1; plural=0;', +} + + +def init_po(pot_path: str | Path, po_path: str | Path, language: str) -> None: + """Create a new .po file from a .pot template (replaces msginit).""" + _, entries = parse_po(pot_path) + plural_forms = PLURAL_FORMS.get(language, 'nplurals=2; plural=(n != 1);') + now = datetime.now(UTC).strftime('%Y-%m-%d %H:%M%z') + + header = POEntry( + comments=[ + f'# {language} translations for PACKAGE package.', + "# Copyright (C) YEAR THE PACKAGE'S COPYRIGHT HOLDER", + '# This file is distributed under the same license as the PACKAGE package.', + '# Automatically generated.', + '#', + ], + msgstr='Project-Id-Version: PACKAGE VERSION\n' + + 'Report-Msgid-Bugs-To: \n' + + f'POT-Creation-Date: {now}\n' + + f'PO-Revision-Date: {now}\n' + + 'Last-Translator: Automatically generated\n' + + 'Language-Team: none\n' + + f'Language: {language}\n' + + 'MIME-Version: 1.0\n' + + 'Content-Type: text/plain; charset=UTF-8\n' + + 'Content-Transfer-Encoding: 8bit\n' + + f'Plural-Forms: {plural_forms}\n', + ) + + nplurals = int(re.search(r'nplurals=(\d+)', plural_forms).group(1)) + for e in entries: + if e.is_plural: + e.msgstr_plural = dict.fromkeys(range(nplurals), '') + + write_po(po_path, header, entries) + + +# ──── PO merge (replaces msgmerge) ──── + +def merge_po(po_path: str | Path, pot_path: str | Path) -> None: + """Update a .po file with entries from a .pot template (replaces msgmerge --update).""" + po_header, po_entries = parse_po(po_path) + _, pot_entries = parse_po(pot_path) + + existing = {e.msgid: e for e in po_entries} + merged = [] + + for pot_e in pot_entries: + if pot_e.msgid in existing: + old = existing[pot_e.msgid] + old.source_refs = pot_e.source_refs + old.flags = pot_e.flags + old.comments = pot_e.comments + if pot_e.is_plural: + old.msgid_plural = pot_e.msgid_plural + merged.append(old) + else: + merged.append(pot_e) + + merged.sort(key=lambda e: e.msgid) + write_po(po_path, po_header, merged) diff --git a/selfdrive/ui/ui.py b/selfdrive/ui/ui.py index 7fe0dfbbc..e3cac2618 100755 --- a/selfdrive/ui/ui.py +++ b/selfdrive/ui/ui.py @@ -1,6 +1,5 @@ #!/usr/bin/env python3 import os -import pyray as rl from openpilot.system.hardware import TICI from openpilot.common.realtime import config_realtime_process, set_core_affinity @@ -9,22 +8,22 @@ from openpilot.selfdrive.ui.layouts.main import MainLayout from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout from openpilot.selfdrive.ui.ui_state import ui_state +BIG_UI = gui_app.big_ui() + def main(): cores = {5, } config_realtime_process(0, 51) gui_app.init_window("UI") - if gui_app.big_ui(): - main_layout = MainLayout() + if BIG_UI: + MainLayout() else: - main_layout = MiciMainLayout() - main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) + MiciMainLayout() + for should_render in gui_app.render(): ui_state.update() if should_render: - main_layout.render() - # reaffine after power save offlines our core if TICI and os.sched_getaffinity(0) != cores: try: diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index bded80b2e..6ff3667d8 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -3,6 +3,7 @@ from itertools import chain import os from openpilot.common.basedir import BASEDIR from openpilot.system.ui.lib.multilang import SYSTEM_UI_DIR, UI_DIR, TRANSLATIONS_DIR, multilang +from openpilot.selfdrive.ui.translations.potools import extract_strings, generate_pot, merge_po, init_po LANGUAGES_FILE = os.path.join(str(TRANSLATIONS_DIR), "languages.json") POT_FILE = os.path.join(str(TRANSLATIONS_DIR), "app.pot") @@ -18,24 +19,17 @@ def update_translations(): if filename.endswith(".py"): files.append(os.path.relpath(os.path.join(root, filename), BASEDIR)) - # Create main translation file - cmd = ("xgettext -L Python --keyword=tr --keyword=trn:1,2 --keyword=tr_noop --from-code=UTF-8 " + - "--flag=tr:1:python-brace-format --flag=trn:1:python-brace-format --flag=trn:2:python-brace-format " + - f"-D {BASEDIR} -o {POT_FILE} {' '.join(files)}") - - ret = os.system(cmd) - assert ret == 0 + # Extract translatable strings and generate .pot template + entries = extract_strings(files, BASEDIR) + generate_pot(entries, POT_FILE) # Generate/update translation files for each language for name in multilang.languages.values(): - if os.path.exists(os.path.join(TRANSLATIONS_DIR, f"app_{name}.po")): - cmd = f"msgmerge --update --no-fuzzy-matching --backup=none --sort-output {TRANSLATIONS_DIR}/app_{name}.po {POT_FILE}" - ret = os.system(cmd) - assert ret == 0 + po_file = os.path.join(TRANSLATIONS_DIR, f"app_{name}.po") + if os.path.exists(po_file): + merge_po(po_file, POT_FILE) else: - cmd = f"msginit -l {name} --no-translator --input {POT_FILE} --output-file {TRANSLATIONS_DIR}/app_{name}.po" - ret = os.system(cmd) - assert ret == 0 + init_po(POT_FILE, po_file, name) if __name__ == "__main__": diff --git a/selfdrive/ui/widgets/offroad_alerts.py b/selfdrive/ui/widgets/offroad_alerts.py index 802243ff3..a87727e27 100644 --- a/selfdrive/ui/widgets/offroad_alerts.py +++ b/selfdrive/ui/widgets/offroad_alerts.py @@ -63,7 +63,7 @@ class ActionButton(Widget): @property def text(self) -> str: - return self._text() if callable(self._text) else self._text + return self._text if isinstance(self._text, str) else self._text() def _render(self, _): text_size = measure_text_cached(gui_app.font(FontWeight.MEDIUM), self.text, AlertConstants.FONT_SIZE) diff --git a/selfdrive/ui/widgets/pairing_dialog.py b/selfdrive/ui/widgets/pairing_dialog.py index f960cf723..1ff550e4b 100644 --- a/selfdrive/ui/widgets/pairing_dialog.py +++ b/selfdrive/ui/widgets/pairing_dialog.py @@ -26,7 +26,7 @@ class PairingDialog(Widget): self.qr_texture: rl.Texture | None = None self.last_qr_generation = float('-inf') self._close_btn = IconButton(gui_app.texture("icons/close.png", 80, 80)) - self._close_btn.set_click_callback(lambda: gui_app.set_modal_overlay(None)) + self._close_btn.set_click_callback(gui_app.pop_widget) def _get_pairing_url(self) -> str: try: @@ -69,7 +69,7 @@ class PairingDialog(Widget): def _update_state(self): if ui_state.prime_state.is_paired(): - gui_app.set_modal_overlay(None) + gui_app.pop_widget() def _render(self, rect: rl.Rectangle) -> int: rl.clear_background(rl.Color(224, 224, 224, 255)) @@ -162,10 +162,9 @@ class PairingDialog(Widget): if __name__ == "__main__": gui_app.init_window("pairing device") pairing = PairingDialog() + gui_app.push_widget(pairing) try: for _ in gui_app.render(): - result = pairing.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) - if result != -1: - break + pass finally: del pairing diff --git a/selfdrive/ui/widgets/setup.py b/selfdrive/ui/widgets/setup.py index 3c9406688..c9452fc53 100644 --- a/selfdrive/ui/widgets/setup.py +++ b/selfdrive/ui/widgets/setup.py @@ -15,7 +15,6 @@ class SetupWidget(Widget): def __init__(self): super().__init__() self._open_settings_callback = None - self._pairing_dialog: PairingDialog | None = None self._pair_device_btn = Button(lambda: tr("Pair device"), self._show_pairing, button_style=ButtonStyle.PRIMARY) self._open_settings_btn = Button(lambda: tr("Open"), lambda: self._open_settings_callback() if self._open_settings_callback else None, button_style=ButtonStyle.PRIMARY) @@ -86,16 +85,11 @@ class SetupWidget(Widget): button_rect = rl.Rectangle(x, y, w, button_height) self._open_settings_btn.render(button_rect) - def _show_pairing(self): + @staticmethod + def _show_pairing(): if not system_time_valid(): dlg = alert_dialog(tr("Please connect to Wi-Fi to complete initial pairing")) - gui_app.set_modal_overlay(dlg) + gui_app.push_widget(dlg) return - if not self._pairing_dialog: - self._pairing_dialog = PairingDialog() - gui_app.set_modal_overlay(self._pairing_dialog, lambda result: setattr(self, '_pairing_dialog', None)) - - def __del__(self): - if self._pairing_dialog: - del self._pairing_dialog + gui_app.push_widget(PairingDialog()) diff --git a/selfdrive/ui/widgets/ssh_key.py b/selfdrive/ui/widgets/ssh_key.py index 88389cb05..b31a9eb3b 100644 --- a/selfdrive/ui/widgets/ssh_key.py +++ b/selfdrive/ui/widgets/ssh_key.py @@ -59,7 +59,7 @@ class SshKeyAction(ItemAction): # Show error dialog if there's an error if self._error_message: message = copy.copy(self._error_message) - gui_app.set_modal_overlay(alert_dialog(message)) + gui_app.push_widget(alert_dialog(message)) self._username = "" self._error_message = "" @@ -87,7 +87,8 @@ class SshKeyAction(ItemAction): if self._state == SshKeyActionState.ADD: self._keyboard.reset() self._keyboard.set_title(tr("Enter your GitHub username")) - gui_app.set_modal_overlay(self._keyboard, callback=self._on_username_submit) + self._keyboard.set_callback(self._on_username_submit) + gui_app.push_widget(self._keyboard) elif self._state == SshKeyActionState.REMOVE: self._params.remove("GithubUsername") self._params.remove("GithubSshKeys") diff --git a/sunnypilot/selfdrive/car/tests/test_cruise_mode.py b/sunnypilot/selfdrive/car/tests/test_cruise_mode.py index 26338319f..2fad14a70 100644 --- a/sunnypilot/selfdrive/car/tests/test_cruise_mode.py +++ b/sunnypilot/selfdrive/car/tests/test_cruise_mode.py @@ -1,5 +1,5 @@ -from parameterized import parameterized_class from cereal import car +from openpilot.common.parameterized import parameterized_class from openpilot.selfdrive.selfdrived.events import Events from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper, DISTANCE_LONG_PRESS diff --git a/sunnypilot/selfdrive/car/tests/test_custom_cruise.py b/sunnypilot/selfdrive/car/tests/test_custom_cruise.py index a1f7f8f02..7276af43e 100644 --- a/sunnypilot/selfdrive/car/tests/test_custom_cruise.py +++ b/sunnypilot/selfdrive/car/tests/test_custom_cruise.py @@ -1,8 +1,8 @@ import pytest -from parameterized import parameterized_class from cereal import car from openpilot.common.constants import CV +from openpilot.common.parameterized import parameterized_class from openpilot.common.params import Params from openpilot.selfdrive.car.cruise import V_CRUISE_INITIAL from openpilot.selfdrive.car.tests.test_cruise_speed import TestVCruiseHelper diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py index 0f016ccaf..07e7d2852 100644 --- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py +++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py @@ -1,11 +1,10 @@ -from parameterized import parameterized - from opendbc.car.car_helpers import interfaces from opendbc.car.honda.values import CAR as HONDA from opendbc.car.hyundai.values import CAR as HYUNDAI from opendbc.car.nissan.values import CAR as NISSAN from opendbc.car.toyota.values import CAR as TOYOTA from opendbc.car.tesla.values import CAR as TESLA +from openpilot.common.parameterized import parameterized from openpilot.common.params import Params from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py index 245b48731..3594588ea 100644 --- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py +++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py @@ -1,9 +1,8 @@ -from parameterized import parameterized - from opendbc.car.car_helpers import interfaces from opendbc.car.honda.values import CAR as HONDA from opendbc.car.hyundai.values import CAR as HYUNDAI from opendbc.car.toyota.values import CAR as TOYOTA +from openpilot.common.parameterized import parameterized from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car.helpers import convert_to_capnp diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py index eb6839cc1..a108e4ce2 100644 --- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py +++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py @@ -1,5 +1,4 @@ import numpy as np -from parameterized import parameterized from cereal import car, log, messaging from opendbc.car.car_helpers import interfaces @@ -8,6 +7,7 @@ from opendbc.car.honda.values import CAR as HONDA from opendbc.car.hyundai.values import CAR as HYUNDAI from opendbc.car.toyota.values import CAR as TOYOTA from opendbc.car.vehicle_model import VehicleModel +from openpilot.common.parameterized import parameterized from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car.helpers import convert_to_capnp diff --git a/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py b/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py index 5d1fa360e..b4ec5041c 100644 --- a/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py +++ b/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py @@ -4,9 +4,7 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. This file is part of sunnypilot and is licensed under the MIT License. See the LICENSE.md file in the root directory for more details. """ - -from parameterized import parameterized - +from openpilot.common.parameterized import parameterized from openpilot.common.realtime import DT_MDL from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper, LaneChangeState, LaneChangeDirection from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode, \ diff --git a/sunnypilot/selfdrive/pandad/rivian_long_flasher.py b/sunnypilot/selfdrive/pandad/rivian_long_flasher.py index 58ff0683b..24191a73a 100755 --- a/sunnypilot/selfdrive/pandad/rivian_long_flasher.py +++ b/sunnypilot/selfdrive/pandad/rivian_long_flasher.py @@ -74,7 +74,7 @@ def _flash_panda(panda: Panda) -> None: panda.reconnect() -def flash_rivian_long(pandas: list[Panda]) -> None: +def flash_rivian_long(panda: Panda) -> None: if not os.path.isfile(FW_PATH): cloudlog.error(f"Rivian longitudinal upgrade firmware not found at {FW_PATH}") return @@ -83,14 +83,13 @@ def flash_rivian_long(pandas: list[Panda]) -> None: cloudlog.info("Not a Rivian, skipping longitudinal upgrade...") return - for panda in pandas: - # only flash external black pandas (HW_TYPE_BLACK = 0x03) - if panda.get_type() == b'\x03' and not panda.is_internal(): - try: - _flash_panda(panda) - except Exception: - cloudlog.exception(f"Failed to flash F4 panda {panda.get_usb_serial()}") + # only flash external black pandas (HW_TYPE_BLACK = 0x03) + if panda.get_type() == b'\x03' and not panda.is_internal(): + try: + _flash_panda(panda) + except Exception: + cloudlog.exception(f"Failed to flash F4 panda {panda.get_usb_serial()}") if __name__ == '__main__': - flash_rivian_long([Panda(s) for s in Panda.list()]) + flash_rivian_long(Panda()) diff --git a/system/camerad/SConscript b/system/camerad/SConscript index e288c6d8b..c28330b32 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -1,6 +1,6 @@ Import('env', 'arch', 'messaging', 'common', 'visionipc') -libs = [common, 'OpenCL', messaging, visionipc] +libs = [common, messaging, visionipc] if arch != "Darwin": camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc', diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 88bca7f77..329192b63 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -7,7 +7,7 @@ #include "system/camerad/cameras/spectra.h" -void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) { +void CameraBuf::init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) { vipc_server = v; stream_type = type; frame_buf_count = frame_cnt; @@ -21,9 +21,8 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera * const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride; for (int i = 0; i < frame_buf_count; i++) { camera_bufs_raw[i].allocate(raw_frame_size); - camera_bufs_raw[i].init_cl(device_id, context); } - LOGD("allocated %d CL buffers", frame_buf_count); + LOGD("allocated %d buffers", frame_buf_count); } vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, cam->yuv_size, cam->stride, cam->uv_offset); diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index c26859cbc..7f35e06a8 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -36,7 +36,7 @@ public: CameraBuf() = default; ~CameraBuf(); - void init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type); + void init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type); void sendFrameToVipc(); }; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index d741e13cf..6a7f599ab 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -12,16 +12,8 @@ #include #include -#ifdef __TICI__ -#include "CL/cl_ext_qcom.h" -#else -#define CL_PRIORITY_HINT_HIGH_QCOM NULL -#define CL_CONTEXT_PRIORITY_HINT_QCOM NULL -#endif - #include "media/cam_sensor_cmn_header.h" -#include "common/clutil.h" #include "common/params.h" #include "common/swaglog.h" @@ -57,7 +49,7 @@ public: CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config) {}; ~CameraState(); - void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); + void init(VisionIpcServer *v); void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain); void set_camera_exposure(float grey_frac); void set_exposure_rect(); @@ -68,8 +60,8 @@ public: } }; -void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) { - camera.camera_open(v, device_id, ctx); +void CameraState::init(VisionIpcServer *v) { + camera.camera_open(v); if (!camera.enabled) return; @@ -257,11 +249,7 @@ void CameraState::sendState() { void camerad_thread() { // TODO: centralize enabled handling - cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT); - const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0}; - cl_context ctx = CL_CHECK_ERR(clCreateContext(props, 1, &device_id, NULL, NULL, &err)); - - VisionIpcServer v("camerad", device_id, ctx); + VisionIpcServer v("camerad"); // *** initial ISP init *** SpectraMaster m; @@ -271,7 +259,7 @@ void camerad_thread() { std::vector> cams; for (const auto &config : ALL_CAMERA_CONFIGS) { auto cam = std::make_unique(&m, config); - cam->init(&v, device_id, ctx); + cam->init(&v); cams.emplace_back(std::move(cam)); } diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 5c3e7a9d2..73e0a78da 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -274,7 +274,7 @@ int SpectraCamera::clear_req_queue() { return ret; } -void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) { +void SpectraCamera::camera_open(VisionIpcServer *v) { if (!openSensor()) { return; } @@ -296,7 +296,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c linkDevices(); LOGD("camera init %d", cc.camera_num); - buf.init(device_id, ctx, this, v, ife_buf_depth, cc.stream_type); + buf.init(this, v, ife_buf_depth, cc.stream_type); camera_map_bufs(); clearAndRequeue(1); } diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h index 13cb13f98..a02b8a6ca 100644 --- a/system/camerad/cameras/spectra.h +++ b/system/camerad/cameras/spectra.h @@ -113,7 +113,7 @@ public: SpectraCamera(SpectraMaster *master, const CameraConfig &config); ~SpectraCamera(); - void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); + void camera_open(VisionIpcServer *v); bool handle_camera_event(const cam_req_mgr_message *event_data); void camera_close(); void camera_map_bufs(); diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py index 1f3f97b08..5f8de8689 100644 --- a/system/camerad/test/test_camerad.py +++ b/system/camerad/test/test_camerad.py @@ -3,51 +3,103 @@ import time import pytest import numpy as np -import cereal.messaging as messaging from cereal.services import SERVICE_LIST -from openpilot.system.manager.process_config import managed_processes from openpilot.tools.lib.log_time_series import msgs_to_time_series +from openpilot.system.camerad.snapshot import get_snapshots +from openpilot.selfdrive.test.helpers import collect_logs, log_collector, processes_context TEST_TIMESPAN = 10 CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState') +EXPOSURE_STABLE_COUNT = 3 +EXPOSURE_RANGE = (0.15, 0.35) +MAX_TEST_TIME = 25 + + +def _numpy_rgb2gray(im): + return np.clip(im[:,:,2] * 0.114 + im[:,:,1] * 0.587 + im[:,:,0] * 0.299, 0, 255).astype(np.uint8) + +def _exposure_stats(im): + h, w = im.shape[:2] + gray = _numpy_rgb2gray(im[h//10:9*h//10, w//10:9*w//10]) + return float(np.median(gray) / 255.), float(np.mean(gray) / 255.) + +def _in_range(median, mean): + lo, hi = EXPOSURE_RANGE + return lo < median < hi and lo < mean < hi + +def _exposure_stable(results): + return all( + len(v) >= EXPOSURE_STABLE_COUNT and all(_in_range(*s) for s in v[-EXPOSURE_STABLE_COUNT:]) + for v in results.values() + ) def run_and_log(procs, services, duration): - logs = [] - - try: - for p in procs: - managed_processes[p].start() - socks = [messaging.sub_sock(s, conflate=False, timeout=100) for s in services] - - start_time = time.monotonic() - while time.monotonic() - start_time < duration: - for s in socks: - logs.extend(messaging.drain_sock(s)) - for p in procs: - assert managed_processes[p].proc.is_alive() - finally: - for p in procs: - managed_processes[p].stop() - - return logs + with processes_context(procs): + return collect_logs(services, duration) @pytest.fixture(scope="module") -def logs(): - logs = run_and_log(["camerad", ], CAMERAS, TEST_TIMESPAN) - ts = msgs_to_time_series(logs) +def _camera_session(): + """Single camerad session that collects logs and exposure data. + Runs until exposure stabilizes (min TEST_TIMESPAN seconds for enough log data).""" + with processes_context(["camerad"]), log_collector(CAMERAS) as (raw_logs, lock): + exposure = {cam: [] for cam in CAMERAS} + start = time.monotonic() + while time.monotonic() - start < MAX_TEST_TIME: + rpic, dpic = get_snapshots(frame="roadCameraState", front_frame="driverCameraState") + wpic, _ = get_snapshots(frame="wideRoadCameraState") + for cam, img in zip(CAMERAS, [rpic, dpic, wpic], strict=True): + exposure[cam].append(_exposure_stats(img)) + + if time.monotonic() - start >= TEST_TIMESPAN and _exposure_stable(exposure): + break + + elapsed = time.monotonic() - start + + with lock: + ts = msgs_to_time_series(raw_logs) for cam in CAMERAS: - expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN + expected_frames = SERVICE_LIST[cam].frequency * elapsed cnt = len(ts[cam]['t']) assert expected_frames*0.8 < cnt < expected_frames*1.2, f"unexpected frame count {cam}: {expected_frames=}, got {cnt}" dts = np.abs(np.diff([ts[cam]['timestampSof']/1e6]) - 1000/SERVICE_LIST[cam].frequency) assert (dts < 1.0).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}" - return ts + + return ts, exposure + +@pytest.fixture(scope="module") +def logs(_camera_session): + return _camera_session[0] + +@pytest.fixture(scope="module") +def exposure_data(_camera_session): + return _camera_session[1] @pytest.mark.tici class TestCamerad: + @pytest.mark.parametrize("cam", CAMERAS) + def test_camera_exposure(self, exposure_data, cam): + lo, hi = EXPOSURE_RANGE + checks = exposure_data[cam] + assert len(checks) >= EXPOSURE_STABLE_COUNT, f"{cam}: only got {len(checks)} samples" + + # check that exposure converges into the valid range + passed = sum(_in_range(med, mean) for med, mean in checks) + assert passed >= EXPOSURE_STABLE_COUNT, \ + f"{cam}: only {passed}/{len(checks)} checks in range. " + \ + " | ".join(f"#{i+1}: med={m:.4f} mean={u:.4f}" for i, (m, u) in enumerate(checks)) + + # check that exposure is stable once converged (no regressions) + in_range = False + for i, (median, mean) in enumerate(checks): + ok = _in_range(median, mean) + if in_range and not ok: + pytest.fail(f"{cam}: exposure regressed on sample {i+1} " + + f"(median={median:.4f}, mean={mean:.4f}, expected: ({lo}, {hi}))") + in_range = ok + def test_frame_skips(self, logs): for c in CAMERAS: assert set(np.diff(logs[c]['frameId'])) == {1, }, f"{c} has frame skips" @@ -91,7 +143,10 @@ class TestCamerad: def test_stress_test(self): os.environ['SPECTRA_ERROR_PROB'] = '0.008' - logs = run_and_log(["camerad", ], CAMERAS, 10) + try: + logs = run_and_log(["camerad", ], CAMERAS, 10) + finally: + del os.environ['SPECTRA_ERROR_PROB'] ts = msgs_to_time_series(logs) # we should see some jumps from introduced errors diff --git a/system/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py deleted file mode 100644 index 6f89e0480..000000000 --- a/system/camerad/test/test_exposure.py +++ /dev/null @@ -1,51 +0,0 @@ -import time -import numpy as np -import pytest - -from openpilot.selfdrive.test.helpers import with_processes -from openpilot.system.camerad.snapshot import get_snapshots - -TEST_TIME = 45 -REPEAT = 5 - -@pytest.mark.tici -class TestCamerad: - @classmethod - def setup_class(cls): - pass - - def _numpy_rgb2gray(self, im): - ret = np.clip(im[:,:,2] * 0.114 + im[:,:,1] * 0.587 + im[:,:,0] * 0.299, 0, 255).astype(np.uint8) - return ret - - def _is_exposure_okay(self, i, med_mean=None): - if med_mean is None: - med_mean = np.array([[0.18,0.3],[0.18,0.3]]) - h, w = i.shape[:2] - i = i[h//10:9*h//10,w//10:9*w//10] - med_ex, mean_ex = med_mean - i = self._numpy_rgb2gray(i) - i_median = np.median(i) / 255. - i_mean = np.mean(i) / 255. - print([i_median, i_mean]) - return med_ex[0] < i_median < med_ex[1] and mean_ex[0] < i_mean < mean_ex[1] - - @with_processes(['camerad']) - def test_camera_operation(self): - passed = 0 - start = time.monotonic() - while time.monotonic() - start < TEST_TIME and passed < REPEAT: - rpic, dpic = get_snapshots(frame="roadCameraState", front_frame="driverCameraState") - wpic, _ = get_snapshots(frame="wideRoadCameraState") - - res = self._is_exposure_okay(rpic) - res = res and self._is_exposure_okay(dpic) - res = res and self._is_exposure_okay(wpic) - - if passed > 0 and not res: - passed = -passed # fails test if any failure after first sus - break - - passed += int(res) - time.sleep(2) - assert passed >= REPEAT diff --git a/system/hardware/esim.py b/system/hardware/esim.py index 58ead6593..9b7d4f9ec 100755 --- a/system/hardware/esim.py +++ b/system/hardware/esim.py @@ -7,7 +7,6 @@ from openpilot.system.hardware import HARDWARE if __name__ == '__main__': parser = argparse.ArgumentParser(prog='esim.py', description='manage eSIM profiles on your comma device', epilog='comma.ai') - parser.add_argument('--backend', choices=['qmi', 'at'], default='qmi', help='use the specified backend, defaults to qmi') parser.add_argument('--switch', metavar='iccid', help='switch to profile') parser.add_argument('--delete', metavar='iccid', help='delete profile (warning: this cannot be undone)') parser.add_argument('--download', nargs=2, metavar=('qr', 'name'), help='download a profile using QR code (format: LPA:1$rsp.truphone.com$QRF-SPEEDTEST)') diff --git a/system/hardware/tici/esim.py b/system/hardware/tici/esim.py deleted file mode 100644 index b489286f5..000000000 --- a/system/hardware/tici/esim.py +++ /dev/null @@ -1,106 +0,0 @@ -import json -import os -import shutil -import subprocess -from typing import Literal - -from openpilot.system.hardware.base import LPABase, LPAError, LPAProfileNotFoundError, Profile - -class TiciLPA(LPABase): - def __init__(self, interface: Literal['qmi', 'at'] = 'qmi'): - self.env = os.environ.copy() - self.env['LPAC_APDU'] = interface - self.env['QMI_DEVICE'] = '/dev/cdc-wdm0' - self.env['AT_DEVICE'] = '/dev/ttyUSB2' - - self.timeout_sec = 45 - - if shutil.which('lpac') is None: - raise LPAError('lpac not found, must be installed!') - - def list_profiles(self) -> list[Profile]: - msgs = self._invoke('profile', 'list') - self._validate_successful(msgs) - return [Profile( - iccid=p['iccid'], - nickname=p['profileNickname'], - enabled=p['profileState'] == 'enabled', - provider=p['serviceProviderName'] - ) for p in msgs[-1]['payload']['data']] - - def get_active_profile(self) -> Profile | None: - return next((p for p in self.list_profiles() if p.enabled), None) - - def delete_profile(self, iccid: str) -> None: - self._validate_profile_exists(iccid) - latest = self.get_active_profile() - if latest is not None and latest.iccid == iccid: - raise LPAError('cannot delete active profile, switch to another profile first') - self._validate_successful(self._invoke('profile', 'delete', iccid)) - self._process_notifications() - - def download_profile(self, qr: str, nickname: str | None = None) -> None: - msgs = self._invoke('profile', 'download', '-a', qr) - self._validate_successful(msgs) - new_profile = next((m for m in msgs if m['payload']['message'] == 'es8p_meatadata_parse'), None) - if new_profile is None: - raise LPAError('no new profile found') - if nickname: - self.nickname_profile(new_profile['payload']['data']['iccid'], nickname) - self._process_notifications() - - def nickname_profile(self, iccid: str, nickname: str) -> None: - self._validate_profile_exists(iccid) - self._validate_successful(self._invoke('profile', 'nickname', iccid, nickname)) - - def switch_profile(self, iccid: str) -> None: - self._validate_profile_exists(iccid) - latest = self.get_active_profile() - if latest and latest.iccid == iccid: - return - self._validate_successful(self._invoke('profile', 'enable', iccid)) - self._process_notifications() - - def _invoke(self, *cmd: str): - proc = subprocess.Popen(['sudo', '-E', 'lpac'] + list(cmd), stdout=subprocess.PIPE, stderr=subprocess.PIPE, env=self.env) - try: - out, err = proc.communicate(timeout=self.timeout_sec) - except subprocess.TimeoutExpired as e: - proc.kill() - raise LPAError(f"lpac {cmd} timed out after {self.timeout_sec} seconds") from e - - messages = [] - for line in out.decode().strip().splitlines(): - if line.startswith('{'): - message = json.loads(line) - - # lpac response format validations - assert 'type' in message, 'expected type in message' - assert message['type'] == 'lpa' or message['type'] == 'progress', 'expected lpa or progress message type' - assert 'payload' in message, 'expected payload in message' - assert 'code' in message['payload'], 'expected code in message payload' - assert 'data' in message['payload'], 'expected data in message payload' - - msg_ret_code = message['payload']['code'] - if msg_ret_code != 0: - raise LPAError(f"lpac {' '.join(cmd)} failed with code {msg_ret_code}: <{message['payload']['message']}> {message['payload']['data']}") - - messages.append(message) - - if len(messages) == 0: - raise LPAError(f"lpac {cmd} returned no messages") - - return messages - - def _process_notifications(self) -> None: - """ - Process notifications stored on the eUICC, typically to activate/deactivate the profile with the carrier. - """ - self._validate_successful(self._invoke('notification', 'process', '-a', '-r')) - - def _validate_profile_exists(self, iccid: str) -> None: - if not any(p.iccid == iccid for p in self.list_profiles()): - raise LPAProfileNotFoundError(f'profile {iccid} does not exist') - - def _validate_successful(self, msgs: list[dict]) -> None: - assert msgs[-1]['payload']['message'] == 'success', 'expected success notification' diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 5a84afce0..2295ca3cb 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -12,7 +12,7 @@ from openpilot.common.utils import sudo_read, sudo_write from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action from openpilot.system.hardware.base import HardwareBase, LPABase, ThermalConfig, ThermalZone from openpilot.system.hardware.tici import iwlist -from openpilot.system.hardware.tici.esim import TiciLPA +from openpilot.system.hardware.tici.lpa import TiciLPA from openpilot.system.hardware.tici.pins import GPIO from openpilot.system.hardware.tici.amplifier import Amplifier diff --git a/system/hardware/tici/lpa.py b/system/hardware/tici/lpa.py new file mode 100644 index 000000000..2e7e6a0ba --- /dev/null +++ b/system/hardware/tici/lpa.py @@ -0,0 +1,281 @@ +# SGP.22 v2.3: https://www.gsma.com/solutions-and-impact/technologies/esim/wp-content/uploads/2021/07/SGP.22-v2.3.pdf + +import atexit +import base64 +import math +import os +import serial +import sys + +from collections.abc import Generator + +from openpilot.system.hardware.base import LPABase, Profile + + +DEFAULT_DEVICE = "/dev/ttyUSB2" +DEFAULT_BAUD = 9600 +DEFAULT_TIMEOUT = 5.0 +# https://euicc-manual.osmocom.org/docs/lpa/applet-id/ +ISDR_AID = "A0000005591010FFFFFFFF8900000100" +MM = "org.freedesktop.ModemManager1" +MM_MODEM = MM + ".Modem" +ES10X_MSS = 120 +DEBUG = os.environ.get("DEBUG") == "1" + +# TLV Tags +TAG_ICCID = 0x5A +TAG_PROFILE_INFO_LIST = 0xBF2D + +STATE_LABELS = {0: "disabled", 1: "enabled", 255: "unknown"} +ICON_LABELS = {0: "jpeg", 1: "png", 255: "unknown"} +CLASS_LABELS = {0: "test", 1: "provisioning", 2: "operational", 255: "unknown"} + + +def b64e(data: bytes) -> str: + return base64.b64encode(data).decode("ascii") + + +class AtClient: + def __init__(self, device: str, baud: int, timeout: float, debug: bool) -> None: + self.debug = debug + self.channel: str | None = None + self._timeout = timeout + self._serial: serial.Serial | None = None + try: + self._serial = serial.Serial(device, baudrate=baud, timeout=timeout) + self._serial.reset_input_buffer() + except (serial.SerialException, PermissionError, OSError): + pass + + def close(self) -> None: + try: + if self.channel: + self.query(f"AT+CCHC={self.channel}") + self.channel = None + finally: + if self._serial: + self._serial.close() + + def _send(self, cmd: str) -> None: + if self.debug: + print(f"SER >> {cmd}", file=sys.stderr) + self._serial.write((cmd + "\r").encode("ascii")) + + def _expect(self) -> list[str]: + lines: list[str] = [] + while True: + raw = self._serial.readline() + if not raw: + raise TimeoutError("AT command timed out") + line = raw.decode(errors="ignore").strip() + if not line: + continue + if self.debug: + print(f"SER << {line}", file=sys.stderr) + if line == "OK": + return lines + if line == "ERROR" or line.startswith("+CME ERROR"): + raise RuntimeError(f"AT command failed: {line}") + lines.append(line) + + def _get_modem(self): + import dbus + bus = dbus.SystemBus() + mm = bus.get_object(MM, '/org/freedesktop/ModemManager1') + objects = mm.GetManagedObjects(dbus_interface="org.freedesktop.DBus.ObjectManager", timeout=self._timeout) + modem_path = list(objects.keys())[0] + return bus.get_object(MM, modem_path) + + def _dbus_query(self, cmd: str) -> list[str]: + if self.debug: + print(f"DBUS >> {cmd}", file=sys.stderr) + try: + result = str(self._get_modem().Command(cmd, math.ceil(self._timeout), dbus_interface=MM_MODEM, timeout=self._timeout)) + except Exception as e: + raise RuntimeError(f"AT command failed: {e}") from e + lines = [line.strip() for line in result.splitlines() if line.strip()] + if self.debug: + for line in lines: + print(f"DBUS << {line}", file=sys.stderr) + return lines + + def query(self, cmd: str) -> list[str]: + if self._serial: + self._send(cmd) + return self._expect() + return self._dbus_query(cmd) + + def open_isdr(self) -> None: + # close any stale logical channel from a previous crashed session + try: + self.query("AT+CCHC=1") + except RuntimeError: + pass + for line in self.query(f'AT+CCHO="{ISDR_AID}"'): + if line.startswith("+CCHO:") and (ch := line.split(":", 1)[1].strip()): + self.channel = ch + return + raise RuntimeError("Failed to open ISD-R application") + + def send_apdu(self, apdu: bytes) -> tuple[bytes, int, int]: + if not self.channel: + raise RuntimeError("Logical channel is not open") + hex_payload = apdu.hex().upper() + for line in self.query(f'AT+CGLA={self.channel},{len(hex_payload)},"{hex_payload}"'): + if line.startswith("+CGLA:"): + parts = line.split(":", 1)[1].split(",", 1) + if len(parts) == 2: + data = bytes.fromhex(parts[1].strip().strip('"')) + if len(data) >= 2: + return data[:-2], data[-2], data[-1] + raise RuntimeError("Missing +CGLA response") + + +# --- TLV utilities --- + +def iter_tlv(data: bytes, with_positions: bool = False) -> Generator: + idx, length = 0, len(data) + while idx < length: + start_pos = idx + tag = data[idx] + idx += 1 + if tag & 0x1F == 0x1F: # Multi-byte tag + tag_value = tag + while idx < length: + next_byte = data[idx] + idx += 1 + tag_value = (tag_value << 8) | next_byte + if not (next_byte & 0x80): + break + else: + tag_value = tag + if idx >= length: + break + size = data[idx] + idx += 1 + if size & 0x80: # Multi-byte length + num_bytes = size & 0x7F + if idx + num_bytes > length: + break + size = int.from_bytes(data[idx : idx + num_bytes], "big") + idx += num_bytes + if idx + size > length: + break + value = data[idx : idx + size] + idx += size + yield (tag_value, value, start_pos, idx) if with_positions else (tag_value, value) + + +def find_tag(data: bytes, target: int) -> bytes | None: + return next((v for t, v in iter_tlv(data) if t == target), None) + + +def tbcd_to_string(raw: bytes) -> str: + return "".join(str(n) for b in raw for n in (b & 0x0F, b >> 4) if n <= 9) + + +# Profile field decoders: TLV tag -> (field_name, decoder) +_PROFILE_FIELDS = { + TAG_ICCID: ("iccid", tbcd_to_string), + 0x4F: ("isdpAid", lambda v: v.hex().upper()), + 0x9F70: ("profileState", lambda v: STATE_LABELS.get(v[0], "unknown")), + 0x90: ("profileNickname", lambda v: v.decode("utf-8", errors="ignore") or None), + 0x91: ("serviceProviderName", lambda v: v.decode("utf-8", errors="ignore") or None), + 0x92: ("profileName", lambda v: v.decode("utf-8", errors="ignore") or None), + 0x93: ("iconType", lambda v: ICON_LABELS.get(v[0], "unknown")), + 0x94: ("icon", b64e), + 0x95: ("profileClass", lambda v: CLASS_LABELS.get(v[0], "unknown")), +} + + +def _decode_profile_fields(data: bytes) -> dict: + """Parse known profile metadata TLV fields into a dict.""" + result = {} + for tag, value in iter_tlv(data): + if (field := _PROFILE_FIELDS.get(tag)): + result[field[0]] = field[1](value) + return result + + +# --- ES10x command transport --- + +def es10x_command(client: AtClient, data: bytes) -> bytes: + response = bytearray() + sequence = 0 + offset = 0 + while offset < len(data): + chunk = data[offset : offset + ES10X_MSS] + offset += len(chunk) + is_last = offset == len(data) + apdu = bytes([0x80, 0xE2, 0x91 if is_last else 0x11, sequence & 0xFF, len(chunk)]) + chunk + segment, sw1, sw2 = client.send_apdu(apdu) + response.extend(segment) + while True: + if sw1 == 0x61: # More data available + segment, sw1, sw2 = client.send_apdu(bytes([0x80, 0xC0, 0x00, 0x00, sw2 or 0])) + response.extend(segment) + continue + if (sw1 & 0xF0) == 0x90: + break + raise RuntimeError(f"APDU failed with SW={sw1:02X}{sw2:02X}") + sequence += 1 + return bytes(response) + + +# --- Profile operations --- + +def decode_profiles(blob: bytes) -> list[dict]: + root = find_tag(blob, TAG_PROFILE_INFO_LIST) + if root is None: + raise RuntimeError("Missing ProfileInfoList") + list_ok = find_tag(root, 0xA0) + if list_ok is None: + return [] + defaults = {name: None for name, _ in _PROFILE_FIELDS.values()} + return [{**defaults, **_decode_profile_fields(value)} for tag, value in iter_tlv(list_ok) if tag == 0xE3] + + +def list_profiles(client: AtClient) -> list[dict]: + return decode_profiles(es10x_command(client, TAG_PROFILE_INFO_LIST.to_bytes(2, "big") + b"\x00")) + + +class TiciLPA(LPABase): + _instance = None + + def __new__(cls): + if cls._instance is None: + cls._instance = super().__new__(cls) + return cls._instance + + def __init__(self): + if hasattr(self, '_client'): + return + self._client = AtClient(DEFAULT_DEVICE, DEFAULT_BAUD, DEFAULT_TIMEOUT, debug=DEBUG) + self._client.open_isdr() + atexit.register(self._client.close) + + def list_profiles(self) -> list[Profile]: + return [ + Profile( + iccid=p.get("iccid", ""), + nickname=p.get("profileNickname") or "", + enabled=p.get("profileState") == "enabled", + provider=p.get("serviceProviderName") or "", + ) + for p in list_profiles(self._client) + ] + + def get_active_profile(self) -> Profile | None: + return None + + def delete_profile(self, iccid: str) -> None: + return None + + def download_profile(self, qr: str, nickname: str | None = None) -> None: + return None + + def nickname_profile(self, iccid: str, nickname: str) -> None: + return None + + def switch_profile(self, iccid: str) -> None: + return None diff --git a/system/hardware/tici/tests/test_esim.py b/system/hardware/tici/tests/test_esim.py deleted file mode 100644 index 6fab931cc..000000000 --- a/system/hardware/tici/tests/test_esim.py +++ /dev/null @@ -1,51 +0,0 @@ -import pytest - -from openpilot.system.hardware import HARDWARE, TICI -from openpilot.system.hardware.base import LPAProfileNotFoundError - -# https://euicc-manual.osmocom.org/docs/rsp/known-test-profile -# iccid is always the same for the given activation code -TEST_ACTIVATION_CODE = 'LPA:1$rsp.truphone.com$QRF-BETTERROAMING-PMRDGIR2EARDEIT5' -TEST_ICCID = '8944476500001944011' - -TEST_NICKNAME = 'test_profile' - -def cleanup(): - lpa = HARDWARE.get_sim_lpa() - try: - lpa.delete_profile(TEST_ICCID) - except LPAProfileNotFoundError: - pass - lpa.process_notifications() - -class TestEsim: - - @classmethod - def setup_class(cls): - if not TICI: - pytest.skip() - cleanup() - - @classmethod - def teardown_class(cls): - cleanup() - - def test_provision_enable_disable(self): - lpa = HARDWARE.get_sim_lpa() - current_active = lpa.get_active_profile() - - lpa.download_profile(TEST_ACTIVATION_CODE, TEST_NICKNAME) - assert any(p.iccid == TEST_ICCID and p.nickname == TEST_NICKNAME for p in lpa.list_profiles()) - - lpa.enable_profile(TEST_ICCID) - new_active = lpa.get_active_profile() - assert new_active is not None - assert new_active.iccid == TEST_ICCID - assert new_active.nickname == TEST_NICKNAME - - lpa.disable_profile(TEST_ICCID) - new_active = lpa.get_active_profile() - assert new_active is None - - if current_active: - lpa.enable_profile(current_active.iccid) diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index a92e4c8de..c4401c958 100644 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -32,7 +32,7 @@ class Proc: PROCS = [ Proc(['camerad'], 1.65, atol=0.4, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']), - Proc(['modeld'], 1.24, atol=0.2, msgs=['modelV2']), + Proc(['modeld'], 1.5, atol=0.2, msgs=['modelV2']), Proc(['dmonitoringmodeld'], 0.65, atol=0.35, msgs=['driverStateV2']), Proc(['encoderd'], 0.23, msgs=[]), ] diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript index cf169f4dc..fecf44885 100644 --- a/system/loggerd/SConscript +++ b/system/loggerd/SConscript @@ -1,17 +1,14 @@ Import('env', 'arch', 'messaging', 'common', 'visionipc') libs = [common, messaging, visionipc, - 'avformat', 'avcodec', 'avutil', - 'yuv', 'OpenCL', 'pthread', 'zstd'] + 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', + 'yuv', 'pthread', 'z', 'm', 'zstd'] src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc', 'encoder/jpeg_encoder.cc'] if arch != "larch64": src += ['encoder/ffmpeg_encoder.cc'] if arch == "Darwin": - # fix OpenCL - del libs[libs.index('OpenCL')] - env['FRAMEWORKS'] = ['OpenCL'] # exclude v4l del src[src.index('encoder/v4l_encoder.cc')] diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc index 6ee3af13b..383fa2f0f 100644 --- a/system/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -43,29 +43,29 @@ static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=N static void queue_buffer(int fd, v4l2_buf_type buf_type, unsigned int index, VisionBuf *buf, struct timeval timestamp={}) { v4l2_plane plane = { + .bytesused = (uint32_t)buf->len, .length = (unsigned int)buf->len, .m = { .userptr = (unsigned long)buf->addr, }, - .bytesused = (uint32_t)buf->len, .reserved = {(unsigned int)buf->fd} }; v4l2_buffer v4l_buf = { - .type = buf_type, .index = index, + .type = buf_type, + .flags = V4L2_BUF_FLAG_TIMESTAMP_COPY, + .timestamp = timestamp, .memory = V4L2_MEMORY_USERPTR, .m = { .planes = &plane, }, .length = 1, - .flags = V4L2_BUF_FLAG_TIMESTAMP_COPY, - .timestamp = timestamp }; util::safe_ioctl(fd, VIDIOC_QBUF, &v4l_buf, "VIDIOC_QBUF failed"); } static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count) { struct v4l2_requestbuffers reqbuf = { + .count = count, .type = buf_type, .memory = V4L2_MEMORY_USERPTR, - .count = count }; util::safe_ioctl(fd, VIDIOC_REQBUFS, &reqbuf, "VIDIOC_REQBUFS failed"); } diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index 47da32102..375592961 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -219,11 +219,11 @@ void handle_preserve_segment(LoggerdState *s) { void loggerd_thread() { // setup messaging - typedef struct ServiceState { + struct ServiceState { std::string name; int counter, freq; bool encoder, preserve_segment, record_audio; - } ServiceState; + }; std::unordered_map service_state; std::unordered_map remote_encoders; diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h index 8e3a74d2d..6aa0c8be4 100644 --- a/system/loggerd/loggerd.h +++ b/system/loggerd/loggerd.h @@ -125,10 +125,10 @@ const EncoderInfo stream_driver_encoder_info = { const EncoderInfo qcam_encoder_info = { .publish_name = "qRoadEncodeData", .filename = "qcamera.ts", - .get_settings = [](int){return EncoderSettings::QcamEncoderSettings();}, + .include_audio = Params().getBool("RecordAudio"), .frame_width = 526, .frame_height = 330, - .include_audio = Params().getBool("RecordAudio"), + .get_settings = [](int){return EncoderSettings::QcamEncoderSettings();}, INIT_ENCODE_FUNCTIONS(QRoadEncode), }; diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py index e4dabd3df..a9de0690a 100644 --- a/system/loggerd/tests/test_encoder.py +++ b/system/loggerd/tests/test_encoder.py @@ -7,7 +7,7 @@ import subprocess import time from pathlib import Path -from parameterized import parameterized +from openpilot.common.parameterized import parameterized from tqdm import trange from openpilot.common.params import Params diff --git a/system/loggerd/tests/test_logger.cc b/system/loggerd/tests/test_logger.cc index 40a45a68d..61509c256 100644 --- a/system/loggerd/tests/test_logger.cc +++ b/system/loggerd/tests/test_logger.cc @@ -56,7 +56,7 @@ void write_msg(LoggerState *logger) { TEST_CASE("logger") { const int segment_cnt = 100; const std::string log_root = "/tmp/test_logger"; - system(("rm " + log_root + " -rf").c_str()); + REQUIRE(system(("rm " + log_root + " -rf").c_str()) == 0); std::string route_name; { LoggerState logger(log_root); diff --git a/system/ubloxd/binary_struct.py b/system/ubloxd/binary_struct.py index 7b229620a..c144bd569 100644 --- a/system/ubloxd/binary_struct.py +++ b/system/ubloxd/binary_struct.py @@ -174,7 +174,7 @@ class BinaryStruct: if not is_dataclass(cls): dataclass(init=False)(cls) fields = list(getattr(cls, '__annotations__', {}).items()) - cls.__binary_fields__ = fields # type: ignore[attr-defined] + cls.__binary_fields__ = fields @classmethod def _read(inner_cls, reader: BinaryReader): @@ -184,7 +184,7 @@ class BinaryStruct: setattr(obj, name, value) return obj - cls._read = _read # type: ignore[attr-defined] + cls._read = _read @classmethod def from_bytes(cls: type[T], data: bytes) -> T: diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 9e902508b..48f347882 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -12,7 +12,6 @@ import subprocess from contextlib import contextmanager from collections.abc import Callable from collections import deque -from dataclasses import dataclass from enum import StrEnum from pathlib import Path from typing import NamedTuple @@ -43,7 +42,8 @@ PROFILE_RENDER = int(os.getenv("PROFILE_RENDER", "0")) PROFILE_STATS = int(os.getenv("PROFILE_STATS", "100")) # Number of functions to show in profile output RECORD = os.getenv("RECORD") == "1" RECORD_OUTPUT = str(Path(os.getenv("RECORD_OUTPUT", "output")).with_suffix(".mp4")) -RECORD_BITRATE = os.getenv("RECORD_BITRATE", "") # Target bitrate e.g. "2000k" +RECORD_QUALITY = int(os.getenv("RECORD_QUALITY", "23")) # Dynamic bitrate quality level (CRF); 0 is lossless (bigger size), max is 51, default is 23 for x264 +RECORD_BITRATE = os.getenv("RECORD_BITRATE", "") # Target bitrate e.g. "2000k" (overrides RECORD_QUALITY when set) RECORD_SPEED = int(os.getenv("RECORD_SPEED", "1")) # Speed multiplier OFFSCREEN = os.getenv("OFFSCREEN") == "1" # Disable FPS limiting for fast offline rendering @@ -117,12 +117,6 @@ def font_fallback(font: rl.Font) -> rl.Font: return font -@dataclass -class ModalOverlay: - overlay: object = None - callback: Callable | None = None - - class MousePos(NamedTuple): x: float y: float @@ -228,9 +222,9 @@ class GuiApplication(GuiApplicationExt): self._last_fps_log_time: float = time.monotonic() self._frame = 0 self._window_close_requested = False - self._modal_overlay = ModalOverlay() - self._modal_overlay_shown = False - self._modal_overlay_tick: Callable[[], None] | None = None + self._nav_stack: list[object] = [] + self._nav_stack_tick: Callable[[], None] | None = None + self._nav_stack_widgets_to_render = 1 if self.big_ui() else 2 self._mouse = MouseState(self._scale) self._mouse_events: list[MouseEvent] = [] @@ -259,6 +253,10 @@ class GuiApplication(GuiApplicationExt): def set_show_fps(self, show: bool): self._show_fps = show + @property + def show_touches(self) -> bool: + return self._show_touches + @property def target_fps(self): return self._target_fps @@ -303,8 +301,10 @@ class GuiApplication(GuiApplicationExt): '-r', str(output_fps), # Output frame rate (for speed multiplier) '-c:v', 'libx264', '-preset', 'ultrafast', + '-crf', str(RECORD_QUALITY) ] if RECORD_BITRATE: + # NOTE: custom bitrate overrides crf setting ffmpeg_args += ['-b:v', RECORD_BITRATE, '-maxrate', RECORD_BITRATE, '-bufsize', RECORD_BITRATE] ffmpeg_args += [ '-y', # Overwrite existing file @@ -375,36 +375,67 @@ class GuiApplication(GuiApplicationExt): except Exception: break - def set_modal_overlay(self, overlay, callback: Callable | None = None): - if self._modal_overlay.overlay is not None: - if hasattr(self._modal_overlay.overlay, 'hide_event'): - self._modal_overlay.overlay.hide_event() + def push_widget(self, widget: object): + if widget in self._nav_stack: + cloudlog.warning("Widget already in stack, cannot push again!") + return - if self._modal_overlay.callback is not None: - self._modal_overlay.callback(-1) + # disable previous widget to prevent input processing + if len(self._nav_stack) > 0: + prev_widget = self._nav_stack[-1] + # TODO: change these to touch_valid + prev_widget.set_enabled(False) - self._modal_overlay = ModalOverlay(overlay=overlay, callback=callback) + self._nav_stack.append(widget) + widget.show_event() - def set_modal_overlay_tick(self, tick_function: Callable | None): - self._modal_overlay_tick = tick_function + def pop_widget(self): + if len(self._nav_stack) < 2: + cloudlog.warning("At least one widget should remain on the stack, ignoring pop!") + return + + # re-enable previous widget and pop current + # TODO: switch to touch_valid + prev_widget = self._nav_stack[-2] + prev_widget.set_enabled(True) + + widget = self._nav_stack.pop() + widget.hide_event() + + def pop_widgets_to(self, widget): + if widget not in self._nav_stack: + cloudlog.warning("Widget not in stack, cannot pop to it!") + return + + # pops all widgets after specified widget + while len(self._nav_stack) > 0 and self._nav_stack[-1] != widget: + self.pop_widget() + + def get_active_widget(self): + if len(self._nav_stack) > 0: + return self._nav_stack[-1] + return None + + def set_nav_stack_tick(self, tick_function: Callable | None): + self._nav_stack_tick = tick_function def set_should_render(self, should_render: bool): self._should_render = should_render def texture(self, asset_path: str, width: int | None = None, height: int | None = None, - alpha_premultiply=False, keep_aspect_ratio=True): - cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}{keep_aspect_ratio}" + alpha_premultiply=False, keep_aspect_ratio=True, flip_x: bool = False) -> rl.Texture: + cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}_{keep_aspect_ratio}_{flip_x}" if cache_key in self._textures: return self._textures[cache_key] with as_file(ASSETS_DIR.joinpath(asset_path)) as fspath: - image_obj = self._load_image_from_path(fspath.as_posix(), width, height, alpha_premultiply, keep_aspect_ratio) + image_obj = self._load_image_from_path(fspath.as_posix(), width, height, alpha_premultiply, keep_aspect_ratio, flip_x) texture_obj = self._load_texture_from_image(image_obj) self._textures[cache_key] = texture_obj return texture_obj def _load_image_from_path(self, image_path: str, width: int | None = None, height: int | None = None, - alpha_premultiply: bool = False, keep_aspect_ratio: bool = True) -> rl.Image: + alpha_premultiply: bool = False, keep_aspect_ratio: bool = True, flip_x: bool = False) -> rl.Image: """Load and resize an image, storing it for later automatic unloading.""" image = rl.load_image(image_path) @@ -433,6 +464,10 @@ class GuiApplication(GuiApplicationExt): rl.image_resize(image, width, height) else: assert keep_aspect_ratio, "Cannot resize without specifying width and height" + + if flip_x: + rl.image_flip_horizontal(image) + return image def _load_texture_from_image(self, image: rl.Image) -> rl.Texture: @@ -530,14 +565,15 @@ class GuiApplication(GuiApplicationExt): rl.begin_drawing() rl.clear_background(rl.BLACK) - # Handle modal overlay rendering and input processing - if self._handle_modal_overlay(): - # Allow a Widget to still run a function while overlay is shown - if self._modal_overlay_tick is not None: - self._modal_overlay_tick() - yield False - else: - yield True + # Allow a Widget to still run a function regardless of the stack depth + if self._nav_stack_tick is not None: + self._nav_stack_tick() + + # Only render top widgets + for widget in self._nav_stack[-self._nav_stack_widgets_to_render:]: + widget.render(rl.Rectangle(0, 0, self.width, self.height)) + + yield True if self._render_texture: rl.end_texture_mode() @@ -594,33 +630,6 @@ class GuiApplication(GuiApplicationExt): def height(self): return self._height - def _handle_modal_overlay(self) -> bool: - if self._modal_overlay.overlay: - if hasattr(self._modal_overlay.overlay, 'render'): - result = self._modal_overlay.overlay.render(rl.Rectangle(0, 0, self.width, self.height)) - elif callable(self._modal_overlay.overlay): - result = self._modal_overlay.overlay() - else: - raise Exception - - # Send show event to Widget - if not self._modal_overlay_shown and hasattr(self._modal_overlay.overlay, 'show_event'): - self._modal_overlay.overlay.show_event() - self._modal_overlay_shown = True - - if result >= 0: - # Clear the overlay and execute the callback - original_modal = self._modal_overlay - self._modal_overlay = ModalOverlay() - if hasattr(original_modal.overlay, 'hide_event'): - original_modal.overlay.hide_event() - if original_modal.callback is not None: - original_modal.callback(result) - return True - else: - self._modal_overlay_shown = False - return False - def _load_fonts(self): for font_weight_file in FontWeight: with as_file(FONT_DIR) as fspath: diff --git a/system/ui/lib/multilang.py b/system/ui/lib/multilang.py index ad2a5f939..39e49928c 100644 --- a/system/ui/lib/multilang.py +++ b/system/ui/lib/multilang.py @@ -1,7 +1,7 @@ from importlib.resources import files -import os import json -import gettext +import os +import re from openpilot.common.basedir import BASEDIR from openpilot.common.swaglog import cloudlog @@ -23,14 +23,138 @@ UNIFONT_LANGUAGES = [ "ja", ] +# Plural form selectors for supported languages +PLURAL_SELECTORS = { + 'en': lambda n: 0 if n == 1 else 1, + 'de': lambda n: 0 if n == 1 else 1, + 'fr': lambda n: 0 if n <= 1 else 1, + 'pt-BR': lambda n: 0 if n <= 1 else 1, + 'es': lambda n: 0 if n == 1 else 1, + 'tr': lambda n: 0 if n == 1 else 1, + 'uk': lambda n: 0 if n % 10 == 1 and n % 100 != 11 else (1 if 2 <= n % 10 <= 4 and not 12 <= n % 100 <= 14 else 2), + 'th': lambda n: 0, + 'zh-CHT': lambda n: 0, + 'zh-CHS': lambda n: 0, + 'ko': lambda n: 0, + 'ja': lambda n: 0, +} + + +def _parse_quoted(s: str) -> str: + """Parse a PO-format quoted string.""" + s = s.strip() + if not (s.startswith('"') and s.endswith('"')): + raise ValueError(f"Expected quoted string: {s!r}") + s = s[1:-1] + result: list[str] = [] + i = 0 + while i < len(s): + if s[i] == '\\' and i + 1 < len(s): + c = s[i + 1] + if c == 'n': + result.append('\n') + elif c == 't': + result.append('\t') + elif c == '"': + result.append('"') + elif c == '\\': + result.append('\\') + else: + result.append(s[i:i + 2]) + i += 2 + else: + result.append(s[i]) + i += 1 + return ''.join(result) + + +def load_translations(path) -> tuple[dict[str, str], dict[str, list[str]]]: + """Parse a .po file and return (translations, plurals) dicts. + + translations: msgid -> msgstr + plurals: msgid -> [msgstr[0], msgstr[1], ...] + """ + with open(str(path), encoding='utf-8') as f: + lines = f.readlines() + + translations: dict[str, str] = {} + plurals: dict[str, list[str]] = {} + + # Parser state + msgid = msgid_plural = msgstr = "" + msgstr_plurals: dict[int, str] = {} + field: str | None = None + plural_idx = 0 + + def finish(): + nonlocal msgid, msgid_plural, msgstr, msgstr_plurals, field + if msgid: # skip header (empty msgid) + if msgid_plural: + max_idx = max(msgstr_plurals.keys()) if msgstr_plurals else 0 + plurals[msgid] = [msgstr_plurals.get(i, '') for i in range(max_idx + 1)] + else: + if msgstr: + translations[msgid] = msgstr + msgid = msgid_plural = msgstr = "" + msgstr_plurals = {} + field = None + + for raw in lines: + line = raw.strip() + + if not line: + finish() + continue + + if line.startswith('#'): + continue + + if line.startswith('msgid_plural '): + msgid_plural = _parse_quoted(line[len('msgid_plural '):]) + field = 'msgid_plural' + continue + + if line.startswith('msgid '): + msgid = _parse_quoted(line[len('msgid '):]) + field = 'msgid' + continue + + m = re.match(r'msgstr\[(\d+)]\s+(.*)', line) + if m: + plural_idx = int(m.group(1)) + msgstr_plurals[plural_idx] = _parse_quoted(m.group(2)) + field = 'msgstr_plural' + continue + + if line.startswith('msgstr '): + msgstr = _parse_quoted(line[len('msgstr '):]) + field = 'msgstr' + continue + + if line.startswith('"'): + val = _parse_quoted(line) + if field == 'msgid': + msgid += val + elif field == 'msgid_plural': + msgid_plural += val + elif field == 'msgstr': + msgstr += val + elif field == 'msgstr_plural': + msgstr_plurals[plural_idx] += val + + finish() + return translations, plurals + class Multilang: def __init__(self): self._params = Params() if Params is not None else None self._language: str = "en" - self.languages = {} - self.codes = {} - self._translation: gettext.NullTranslations | gettext.GNUTranslations = gettext.NullTranslations() + self.languages: dict[str, str] = {} + self.codes: dict[str, str] = {} + self._translations: dict[str, str] = {} + self._plurals: dict[str, list[str]] = {} + self._plural_selector = PLURAL_SELECTORS.get('en', lambda n: 0) self._load_languages() @property @@ -43,27 +167,30 @@ class Multilang: def setup(self): try: - with TRANSLATIONS_DIR.joinpath(f'app_{self._language}.mo').open('rb') as fh: - translation = gettext.GNUTranslations(fh) - translation.install() - self._translation = translation + po_path = TRANSLATIONS_DIR.joinpath(f'app_{self._language}.po') + self._translations, self._plurals = load_translations(po_path) + self._plural_selector = PLURAL_SELECTORS.get(self._language, lambda n: 0) cloudlog.debug(f"Loaded translations for language: {self._language}") except FileNotFoundError: cloudlog.error(f"No translation file found for language: {self._language}, using default.") - gettext.install('app') - self._translation = gettext.NullTranslations() + self._translations = {} + self._plurals = {} def change_language(self, language_code: str) -> None: - # Reinstall gettext with the selected language self._params.put("LanguageSetting", language_code) self._language = language_code self.setup() def tr(self, text: str) -> str: - return self._translation.gettext(text) + return self._translations.get(text, text) def trn(self, singular: str, plural: str, n: int) -> str: - return self._translation.ngettext(singular, plural, n) + if singular in self._plurals: + idx = self._plural_selector(n) + forms = self._plurals[singular] + if idx < len(forms) and forms[idx]: + return forms[idx] + return singular if n == 1 else plural def _load_languages(self): with LANGUAGES_FILE.open(encoding='utf-8') as f: diff --git a/system/ui/lib/networkmanager.py b/system/ui/lib/networkmanager.py index ffa2ff4db..c47928d8b 100644 --- a/system/ui/lib/networkmanager.py +++ b/system/ui/lib/networkmanager.py @@ -3,14 +3,31 @@ from enum import IntEnum # NetworkManager device states class NMDeviceState(IntEnum): + # https://networkmanager.dev/docs/api/1.46/nm-dbus-types.html#NMDeviceState UNKNOWN = 0 + UNMANAGED = 10 + UNAVAILABLE = 20 DISCONNECTED = 30 PREPARE = 40 - STATE_CONFIG = 50 + CONFIG = 50 NEED_AUTH = 60 IP_CONFIG = 70 + IP_CHECK = 80 + SECONDARIES = 90 ACTIVATED = 100 DEACTIVATING = 110 + FAILED = 120 + + +class NMDeviceStateReason(IntEnum): + # https://networkmanager.dev/docs/api/1.46/nm-dbus-types.html#NMDeviceStateReason + NONE = 0 + UNKNOWN = 1 + NO_SECRETS = 7 + SUPPLICANT_DISCONNECT = 8 + CONNECTION_REMOVED = 38 + SSID_NOT_FOUND = 53 + NEW_ACTIVATION = 60 # NetworkManager constants @@ -29,8 +46,6 @@ NM_IP4_CONFIG_IFACE = 'org.freedesktop.NetworkManager.IP4Config' NM_DEVICE_TYPE_WIFI = 2 NM_DEVICE_TYPE_MODEM = 8 -NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8 -NM_DEVICE_STATE_REASON_NEW_ACTIVATION = 60 # https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NM80211ApFlags NM_802_11_AP_FLAGS_NONE = 0x0 diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 2c76862ce..e2a90e433 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -4,13 +4,13 @@ import time import uuid import subprocess from collections.abc import Callable -from dataclasses import dataclass +from dataclasses import dataclass, replace from enum import IntEnum from typing import Any from jeepney import DBusAddress, new_method_call from jeepney.bus_messages import MatchRule, message_bus -from jeepney.io.blocking import open_dbus_connection as open_dbus_connection_blocking +from jeepney.io.blocking import DBusConnection, open_dbus_connection as open_dbus_connection_blocking from jeepney.io.threading import DBusRouter, open_dbus_connection as open_dbus_connection_threading from jeepney.low_level import MessageType from jeepney.wrappers import Properties @@ -23,9 +23,8 @@ from openpilot.system.ui.lib.networkmanager import (NM, NM_WIRELESS_IFACE, NM_80 NM_802_11_AP_FLAGS_PRIVACY, NM_802_11_AP_FLAGS_WPS, NM_PATH, NM_IFACE, NM_ACCESS_POINT_IFACE, NM_SETTINGS_PATH, NM_SETTINGS_IFACE, NM_CONNECTION_IFACE, NM_DEVICE_IFACE, - NM_DEVICE_TYPE_WIFI, NM_DEVICE_TYPE_MODEM, NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT, - NM_DEVICE_STATE_REASON_NEW_ACTIVATION, NM_ACTIVE_CONNECTION_IFACE, - NM_IP4_CONFIG_IFACE, NMDeviceState) + NM_DEVICE_TYPE_WIFI, NM_DEVICE_TYPE_MODEM, NM_ACTIVE_CONNECTION_IFACE, + NM_IP4_CONFIG_IFACE, NM_PROPERTIES_IFACE, NMDeviceState, NMDeviceStateReason) try: from openpilot.common.params import Params @@ -37,6 +36,27 @@ DEFAULT_TETHERING_PASSWORD = "swagswagcomma" SIGNAL_QUEUE_SIZE = 10 SCAN_PERIOD_SECONDS = 5 +DEBUG = False +_dbus_call_idx = 0 + + +def normalize_ssid(ssid: str) -> str: + return ssid.replace("’", "'") # for iPhone hotspots + + +def _wrap_router(router): + def _wrap(orig): + def wrapper(msg, **kw): + global _dbus_call_idx + _dbus_call_idx += 1 + if DEBUG: + h = msg.header.fields + print(f"[DBUS #{_dbus_call_idx}] {h.get(6, '?')} {h.get(3, '?')} {msg.body}") + return orig(msg, **kw) + return wrapper + router.send_and_get_reply = _wrap(router.send_and_get_reply) + router.send = _wrap(router.send) + class SecurityType(IntEnum): OPEN = 0 @@ -72,24 +92,20 @@ def get_security_type(flags: int, wpa_flags: int, rsn_flags: int) -> SecurityTyp class Network: ssid: str strength: int - is_connected: bool security_type: SecurityType - is_saved: bool - ip_address: str = "" # TODO: implement + is_tethering: bool @classmethod - def from_dbus(cls, ssid: str, aps: list["AccessPoint"], is_saved: bool) -> "Network": + def from_dbus(cls, ssid: str, aps: list["AccessPoint"], is_tethering: bool) -> "Network": # we only want to show the strongest AP for each Network/SSID strongest_ap = max(aps, key=lambda ap: ap.strength) - is_connected = any(ap.is_connected for ap in aps) security_type = get_security_type(strongest_ap.flags, strongest_ap.wpa_flags, strongest_ap.rsn_flags) return cls( ssid=ssid, - strength=strongest_ap.strength, - is_connected=is_connected and is_saved, + strength=100 if is_tethering else strongest_ap.strength, security_type=security_type, - is_saved=is_saved, + is_tethering=is_tethering, ) @@ -98,14 +114,13 @@ class AccessPoint: ssid: str bssid: str strength: int - is_connected: bool flags: int wpa_flags: int rsn_flags: int ap_path: str @classmethod - def from_dbus(cls, ap_props: dict[str, tuple[str, Any]], ap_path: str, active_ap_path: str) -> "AccessPoint": + def from_dbus(cls, ap_props: dict[str, tuple[str, Any]], ap_path: str) -> "AccessPoint": ssid = bytes(ap_props['Ssid'][1]).decode("utf-8", "replace") bssid = str(ap_props['HwAddress'][1]) strength = int(ap_props['Strength'][1]) @@ -117,7 +132,6 @@ class AccessPoint: ssid=ssid, bssid=bssid, strength=strength, - is_connected=ap_path == active_ap_path, flags=flags, wpa_flags=wpa_flags, rsn_flags=rsn_flags, @@ -125,15 +139,29 @@ class AccessPoint: ) +class ConnectStatus(IntEnum): + DISCONNECTED = 0 + CONNECTING = 1 + CONNECTED = 2 + + +@dataclass +class WifiState: + ssid: str | None = None + prev_ssid: str | None = None + status: ConnectStatus = ConnectStatus.DISCONNECTED + + class WifiManager: def __init__(self): - self._networks: list[Network] = [] # a network can be comprised of multiple APs + self._networks: list[Network] = [] # an unsorted list of available Networks. a Network can be comprised of multiple APs self._active = True # used to not run when not in settings self._exit = False # DBus connections try: self._router_main = DBusRouter(open_dbus_connection_threading(bus="SYSTEM")) # used by scanner / general method calls + _wrap_router(self._router_main) self._conn_monitor = open_dbus_connection_blocking(bus="SYSTEM") # used by state monitor thread self._nm = DBusAddress(NM_PATH, bus_name=NM, interface=NM_IFACE) except FileNotFoundError: @@ -146,13 +174,14 @@ class WifiManager: self._wifi_device: str | None = None # State - self._connecting_to_ssid: str = "" + self._connections: dict[str, str] = {} # ssid -> connection path, updated via NM signals + self._wifi_state: WifiState = WifiState() self._ipv4_address: str = "" self._current_network_metered: MeteredType = MeteredType.UNKNOWN self._tethering_password: str = "" self._ipv4_forward = False - self._last_network_update: float = 0.0 + self._last_network_scan: float = 0.0 self._callback_queue: list[Callable] = [] self._tethering_ssid = "weedle" @@ -164,7 +193,7 @@ class WifiManager: # Callbacks self._need_auth: list[Callable[[str], None]] = [] self._activated: list[Callable[[], None]] = [] - self._forgotten: list[Callable[[], None]] = [] + self._forgotten: list[Callable[[str | None], None]] = [] self._networks_updated: list[Callable[[list[Network]], None]] = [] self._disconnected: list[Callable[[], None]] = [] @@ -178,20 +207,48 @@ class WifiManager: def worker(): self._wait_for_wifi_device() + self._init_connections() + if Params is not None and self._tethering_ssid not in self._connections: + self._add_tethering_connection() + + self._init_wifi_state() + self._scan_thread.start() self._state_thread.start() - if Params is not None and self._tethering_ssid not in self._get_connections(): - self._add_tethering_connection() - self._tethering_password = self._get_tethering_password() cloudlog.debug("WifiManager initialized") threading.Thread(target=worker, daemon=True).start() + def _init_wifi_state(self, block: bool = True): + def worker(): + if self._wifi_device is None: + cloudlog.warning("No WiFi device found") + return + + dev_addr = DBusAddress(self._wifi_device, bus_name=NM, interface=NM_DEVICE_IFACE) + dev_state = self._router_main.send_and_get_reply(Properties(dev_addr).get('State')).body[0][1] + + wifi_state = WifiState() + if NMDeviceState.PREPARE <= dev_state <= NMDeviceState.SECONDARIES and dev_state != NMDeviceState.NEED_AUTH: + wifi_state.status = ConnectStatus.CONNECTING + elif dev_state == NMDeviceState.ACTIVATED: + wifi_state.status = ConnectStatus.CONNECTED + + conn_path, _ = self._get_active_wifi_connection() + if conn_path: + wifi_state.ssid = next((s for s, p in self._connections.items() if p == conn_path), None) + self._wifi_state = wifi_state + + if block: + worker() + else: + threading.Thread(target=worker, daemon=True).start() + def add_callbacks(self, need_auth: Callable[[str], None] | None = None, activated: Callable[[], None] | None = None, - forgotten: Callable[[], None] | None = None, + forgotten: Callable[[str], None] | None = None, networks_updated: Callable[[list[Network]], None] | None = None, disconnected: Callable[[], None] | None = None): if need_auth is not None: @@ -205,6 +262,15 @@ class WifiManager: if disconnected is not None: self._disconnected.append(disconnected) + @property + def networks(self) -> list[Network]: + # Sort by connected/connecting, then known, then strength, then alphabetically. This is a pure UI ordering and should not affect underlying state. + return sorted(self._networks, key=lambda n: (n.ssid != self._wifi_state.ssid, not self.is_connection_saved(n.ssid), -n.strength, n.ssid.lower())) + + @property + def wifi_state(self) -> WifiState: + return self._wifi_state + @property def ipv4_address(self) -> str: return self._ipv4_address @@ -213,10 +279,24 @@ class WifiManager: def current_network_metered(self) -> MeteredType: return self._current_network_metered + @property + def connecting_to_ssid(self) -> str | None: + return self._wifi_state.ssid if self._wifi_state.status == ConnectStatus.CONNECTING else None + + @property + def connected_ssid(self) -> str | None: + return self._wifi_state.ssid if self._wifi_state.status == ConnectStatus.CONNECTED else None + @property def tethering_password(self) -> str: return self._tethering_password + def _set_connecting(self, ssid: str | None): + # Track prev ssid so late NEED_AUTH signals target the right network + self._wifi_state = WifiState(ssid=ssid, + prev_ssid=self.connecting_to_ssid if ssid is not None else None, + status=ConnectStatus.DISCONNECTED if ssid is None else ConnectStatus.CONNECTING) + def _enqueue_callbacks(self, cbs: list[Callable], *args): for cb in cbs: self._callback_queue.append(lambda _cb=cb: _cb(*args)) @@ -230,60 +310,155 @@ class WifiManager: def set_active(self, active: bool): self._active = active - # Scan immediately if we haven't scanned in a while - if active and time.monotonic() - self._last_network_update > SCAN_PERIOD_SECONDS / 2: - self._last_network_update = 0.0 + # Update networks and WiFi state (to self-heal) immediately when activating for UI + if active: + self._init_wifi_state(block=False) + self._update_networks(block=False) def _monitor_state(self): - rule = MatchRule( - type="signal", - interface=NM_DEVICE_IFACE, - member="StateChanged", - path=self._wifi_device, + # Filter for signals + rules = ( + MatchRule( + type="signal", + interface=NM_DEVICE_IFACE, + member="StateChanged", + path=self._wifi_device, + ), + MatchRule( + type="signal", + interface=NM_SETTINGS_IFACE, + member="NewConnection", + path=NM_SETTINGS_PATH, + ), + MatchRule( + type="signal", + interface=NM_SETTINGS_IFACE, + member="ConnectionRemoved", + path=NM_SETTINGS_PATH, + ), + MatchRule( + type="signal", + interface=NM_PROPERTIES_IFACE, + member="PropertiesChanged", + path=self._wifi_device, + ), ) - # Filter for StateChanged signal - self._conn_monitor.send_and_get_reply(message_bus.AddMatch(rule)) + for rule in rules: + self._conn_monitor.send_and_get_reply(message_bus.AddMatch(rule)) - with self._conn_monitor.filter(rule, bufsize=SIGNAL_QUEUE_SIZE) as q: + with (self._conn_monitor.filter(rules[0], bufsize=SIGNAL_QUEUE_SIZE) as state_q, + self._conn_monitor.filter(rules[1], bufsize=SIGNAL_QUEUE_SIZE) as new_conn_q, + self._conn_monitor.filter(rules[2], bufsize=SIGNAL_QUEUE_SIZE) as removed_conn_q, + self._conn_monitor.filter(rules[3], bufsize=SIGNAL_QUEUE_SIZE) as props_q): while not self._exit: - if not self._active: - time.sleep(1) - continue - - # Block until a matching signal arrives try: - msg = self._conn_monitor.recv_until_filtered(q, timeout=1) + self._conn_monitor.recv_messages(timeout=1) except TimeoutError: continue - new_state, previous_state, change_reason = msg.body + # Connection added/removed + while len(removed_conn_q): + conn_path = removed_conn_q.popleft().body[0] + self._connection_removed(conn_path) + while len(new_conn_q): + conn_path = new_conn_q.popleft().body[0] + self._new_connection(conn_path) - # BAD PASSWORD - if new_state == NMDeviceState.NEED_AUTH and change_reason == NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT and len(self._connecting_to_ssid): - self.forget_connection(self._connecting_to_ssid, block=True) - self._enqueue_callbacks(self._need_auth, self._connecting_to_ssid) - self._connecting_to_ssid = "" - - elif new_state == NMDeviceState.ACTIVATED: - if len(self._activated): + # PropertiesChanged on wifi device (LastScan = scan complete) + while len(props_q): + iface, changed, _ = props_q.popleft().body + if iface == NM_WIRELESS_IFACE and 'LastScan' in changed: self._update_networks() - self._enqueue_callbacks(self._activated) - self._connecting_to_ssid = "" - elif new_state == NMDeviceState.DISCONNECTED and change_reason != NM_DEVICE_STATE_REASON_NEW_ACTIVATION: - self._connecting_to_ssid = "" - self._enqueue_callbacks(self._forgotten) + # Device state changes + while len(state_q): + new_state, previous_state, change_reason = state_q.popleft().body + + self._handle_state_change(new_state, previous_state, change_reason) + + def _handle_state_change(self, new_state: int, _: int, change_reason: int): + # TODO: known race conditions when switching networks (e.g. forget A, connect to B): + # 1. DEACTIVATING/DISCONNECTED + CONNECTION_REMOVED: fires before NewConnection for B + # arrives, so _set_connecting(None) clears B's CONNECTING state causing UI flicker. + # DEACTIVATING(CONNECTION_REMOVED): wifi_state (B, CONNECTING) -> (None, DISCONNECTED) + # Fix: make DEACTIVATING a no-op, and guard DISCONNECTED with + # `if wifi_state.ssid not in _connections` (NewConnection arrives between the two). + # 2. PREPARE/CONFIG ssid lookup: DBus may return stale A's conn_path, overwriting B. + # PREPARE(0): wifi_state (B, CONNECTING) -> (A, CONNECTING) + # Fix: only do DBus lookup when wifi_state.ssid is None (auto-connections); + # user-initiated connections already have ssid set via _set_connecting. + + # TODO: Handle (FAILED, SSID_NOT_FOUND) and emit for ui to show error + # Happens when network drops off after starting connection + + if new_state == NMDeviceState.DISCONNECTED: + if change_reason != NMDeviceStateReason.NEW_ACTIVATION: + # catches CONNECTION_REMOVED reason when connection is forgotten + self._set_connecting(None) + + elif new_state in (NMDeviceState.PREPARE, NMDeviceState.CONFIG): + # Set connecting status when NetworkManager connects to known networks on its own + wifi_state = replace(self._wifi_state, status=ConnectStatus.CONNECTING) + + conn_path, _ = self._get_active_wifi_connection(self._conn_monitor) + if conn_path is None: + cloudlog.warning("Failed to get active wifi connection during PREPARE/CONFIG state") + else: + wifi_state.ssid = next((s for s, p in self._connections.items() if p == conn_path), None) + + self._wifi_state = wifi_state + + # BAD PASSWORD - use prev if current has already moved on to a new connection + # - strong network rejects with NEED_AUTH+SUPPLICANT_DISCONNECT + # - weak/gone network fails with FAILED+NO_SECRETS + elif ((new_state == NMDeviceState.NEED_AUTH and change_reason == NMDeviceStateReason.SUPPLICANT_DISCONNECT) or + (new_state == NMDeviceState.FAILED and change_reason == NMDeviceStateReason.NO_SECRETS)): + + failed_ssid = self._wifi_state.prev_ssid or self._wifi_state.ssid + if failed_ssid: + self._enqueue_callbacks(self._need_auth, failed_ssid) + self._wifi_state.prev_ssid = None + if self._wifi_state.ssid == failed_ssid: + self._set_connecting(None) + + elif new_state in (NMDeviceState.NEED_AUTH, NMDeviceState.IP_CONFIG, NMDeviceState.IP_CHECK, + NMDeviceState.SECONDARIES, NMDeviceState.FAILED): + pass + + elif new_state == NMDeviceState.ACTIVATED: + # Note that IP address from Ip4Config may not be propagated immediately and could take until the next scan results + wifi_state = replace(self._wifi_state, prev_ssid=None, status=ConnectStatus.CONNECTED) + + conn_path, _ = self._get_active_wifi_connection(self._conn_monitor) + if conn_path is None: + cloudlog.warning("Failed to get active wifi connection during ACTIVATED state") + self._wifi_state = wifi_state + self._enqueue_callbacks(self._activated) + self._update_networks() + else: + wifi_state.ssid = next((s for s, p in self._connections.items() if p == conn_path), None) + self._wifi_state = wifi_state + self._enqueue_callbacks(self._activated) + self._update_networks() + + # Persist volatile connections (created by AddAndActivateConnection2) to disk + conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE) + save_reply = self._conn_monitor.send_and_get_reply(new_method_call(conn_addr, 'Save')) + if save_reply.header.message_type == MessageType.error: + cloudlog.warning(f"Failed to persist connection to disk: {save_reply}") + + elif new_state == NMDeviceState.DEACTIVATING: + if change_reason == NMDeviceStateReason.CONNECTION_REMOVED: + # When connection is forgotten + self._set_connecting(None) def _network_scanner(self): while not self._exit: if self._active: - if time.monotonic() - self._last_network_update > SCAN_PERIOD_SECONDS: - # Scan for networks every 10 seconds - # TODO: should update when scan is complete (PropertiesChanged), but this is more than good enough for now - self._update_networks() + if time.monotonic() - self._last_network_scan > SCAN_PERIOD_SECONDS: self._request_scan() - self._last_network_update = time.monotonic() + self._last_network_scan = time.monotonic() time.sleep(1 / 2.) def _wait_for_wifi_device(self): @@ -307,7 +482,7 @@ class WifiManager: cloudlog.exception(f"Error getting adapter type {adapter_type}: {e}") return None - def _get_connections(self) -> dict[str, str]: + def _init_connections(self) -> None: settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE) known_connections = self._router_main.send_and_get_reply(new_method_call(settings_addr, 'ListConnections')).body[0] @@ -323,10 +498,46 @@ class WifiManager: ssid = settings['802-11-wireless']['ssid'][1].decode("utf-8", "replace") if ssid != "": conns[ssid] = conn_path - return conns + self._connections = conns - def _get_active_connections(self): - return self._router_main.send_and_get_reply(Properties(self._nm).get('ActiveConnections')).body[0][1] + def _new_connection(self, conn_path: str): + settings = self._get_connection_settings(conn_path) + + if "802-11-wireless" in settings: + ssid = settings['802-11-wireless']['ssid'][1].decode("utf-8", "replace") + if ssid != "": + self._connections[ssid] = conn_path + + def _connection_removed(self, conn_path: str): + self._connections = {ssid: path for ssid, path in self._connections.items() if path != conn_path} + + def _get_active_connections(self, router: DBusConnection | DBusRouter | None = None): + # Returns list of ActiveConnection + if router is None: + router = self._router_main + + return router.send_and_get_reply(Properties(self._nm).get('ActiveConnections')).body[0][1] + + def _get_active_wifi_connection(self, router: DBusConnection | DBusRouter | None = None) -> tuple[str | None, dict | None]: + # Returns first Connection settings path and ActiveConnection props from ActiveConnections with Type 802-11-wireless + if router is None: + router = self._router_main + + for active_conn in self._get_active_connections(router): + conn_addr = DBusAddress(active_conn, bus_name=NM, interface=NM_ACTIVE_CONNECTION_IFACE) + reply = router.send_and_get_reply(Properties(conn_addr).get_all()) + + if reply.header.message_type == MessageType.error: + cloudlog.warning(f"Failed to get active connection properties for {active_conn}: {reply}") + continue + + props = reply.body[0] + + conn_path = props.get('Connection', ('o', '/'))[1] + if props.get('Type', ('s', ''))[1] == '802-11-wireless' and conn_path != '/': + return conn_path, props + + return None, None def _get_connection_settings(self, conn_path: str) -> dict: conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE) @@ -374,9 +585,10 @@ class WifiManager: self._router_main.send_and_get_reply(new_method_call(settings_addr, 'AddConnection', 'a{sa{sv}}', (connection,))) def connect_to_network(self, ssid: str, password: str, hidden: bool = False): + self._set_connecting(ssid) + def worker(): # Clear all connections that may already exist to the network we are connecting to - self._connecting_to_ssid = ssid self.forget_connection(ssid, block=True) connection = { @@ -405,22 +617,33 @@ class WifiManager: 'psk': ('s', password), } - settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE) - self._router_main.send_and_get_reply(new_method_call(settings_addr, 'AddConnection', 'a{sa{sv}}', (connection,))) - self.activate_connection(ssid, block=True) + # Volatile connection auto-deletes on disconnect (wrong password, user switches networks) + # Persisted to disk on ACTIVATED via Save() + if self._wifi_device is None: + cloudlog.warning("No WiFi device found") + self._set_connecting(None) + return + + reply = self._router_main.send_and_get_reply(new_method_call(self._nm, 'AddAndActivateConnection2', 'a{sa{sv}}ooa{sv}', + (connection, self._wifi_device, "/", {'persist': ('s', 'volatile')}))) + + if reply.header.message_type == MessageType.error: + cloudlog.warning(f"Failed to add and activate connection for {ssid}: {reply}") + self._set_connecting(None) threading.Thread(target=worker, daemon=True).start() def forget_connection(self, ssid: str, block: bool = False): def worker(): - conn_path = self._get_connections().get(ssid, None) - if conn_path is not None: + conn_path = self._connections.get(ssid, None) + if conn_path is None: + cloudlog.warning(f"Trying to forget unknown connection: {ssid}") + else: conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE) self._router_main.send_and_get_reply(new_method_call(conn_addr, 'Delete')) - if len(self._forgotten): - self._update_networks() - self._enqueue_callbacks(self._forgotten) + self._update_networks() + self._enqueue_callbacks(self._forgotten, ssid) if block: worker() @@ -428,16 +651,21 @@ class WifiManager: threading.Thread(target=worker, daemon=True).start() def activate_connection(self, ssid: str, block: bool = False): - def worker(): - conn_path = self._get_connections().get(ssid, None) - if conn_path is not None: - if self._wifi_device is None: - cloudlog.warning("No WiFi device found") - return + self._set_connecting(ssid) - self._connecting_to_ssid = ssid - self._router_main.send(new_method_call(self._nm, 'ActivateConnection', 'ooo', - (conn_path, self._wifi_device, "/"))) + def worker(): + conn_path = self._connections.get(ssid, None) + if conn_path is None or self._wifi_device is None: + cloudlog.warning(f"Failed to activate connection for {ssid}: conn_path={conn_path}, wifi_device={self._wifi_device}") + self._set_connecting(None) + return + + reply = self._router_main.send_and_get_reply(new_method_call(self._nm, 'ActivateConnection', 'ooo', + (conn_path, self._wifi_device, "/"))) + + if reply.header.message_type == MessageType.error: + cloudlog.warning(f"Failed to activate connection for {ssid}: {reply}") + self._set_connecting(None) if block: worker() @@ -445,8 +673,8 @@ class WifiManager: threading.Thread(target=worker, daemon=True).start() def _deactivate_connection(self, ssid: str): - for conn_path in self._get_active_connections(): - conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_ACTIVE_CONNECTION_IFACE) + for active_conn in self._get_active_connections(): + conn_addr = DBusAddress(active_conn, bus_name=NM, interface=NM_ACTIVE_CONNECTION_IFACE) specific_obj_path = self._router_main.send_and_get_reply(Properties(conn_addr).get('SpecificObject')).body[0][1] if specific_obj_path != "/": @@ -454,18 +682,19 @@ class WifiManager: ap_ssid = bytes(self._router_main.send_and_get_reply(Properties(ap_addr).get('Ssid')).body[0][1]).decode("utf-8", "replace") if ap_ssid == ssid: - self._router_main.send_and_get_reply(new_method_call(self._nm, 'DeactivateConnection', 'o', (conn_path,))) + self._router_main.send_and_get_reply(new_method_call(self._nm, 'DeactivateConnection', 'o', (active_conn,))) return def is_tethering_active(self) -> bool: - for network in self._networks: - if network.is_connected: - return bool(network.ssid == self._tethering_ssid) - return False + # Check ssid, not connected_ssid, to also catch connecting state + return self._wifi_state.ssid == self._tethering_ssid + + def is_connection_saved(self, ssid: str) -> bool: + return ssid in self._connections def set_tethering_password(self, password: str): def worker(): - conn_path = self._get_connections().get(self._tethering_ssid, None) + conn_path = self._connections.get(self._tethering_ssid, None) if conn_path is None: cloudlog.warning('No tethering connection found') return @@ -490,7 +719,7 @@ class WifiManager: threading.Thread(target=worker, daemon=True).start() def _get_tethering_password(self) -> str: - conn_path = self._get_connections().get(self._tethering_ssid, None) + conn_path = self._connections.get(self._tethering_ssid, None) if conn_path is None: cloudlog.warning('No tethering connection found') return '' @@ -527,58 +756,28 @@ class WifiManager: threading.Thread(target=worker, daemon=True).start() - def _update_current_network_metered(self) -> None: - if self._wifi_device is None: - cloudlog.warning("No WiFi device found") - return - - self._current_network_metered = MeteredType.UNKNOWN - for active_conn in self._get_active_connections(): - conn_addr = DBusAddress(active_conn, bus_name=NM, interface=NM_ACTIVE_CONNECTION_IFACE) - conn_type = self._router_main.send_and_get_reply(Properties(conn_addr).get('Type')).body[0][1] - - if conn_type == '802-11-wireless': - conn_path = self._router_main.send_and_get_reply(Properties(conn_addr).get('Connection')).body[0][1] - if conn_path == "/": - continue - - settings = self._get_connection_settings(conn_path) - - if len(settings) == 0: - cloudlog.warning(f'Failed to get connection settings for {conn_path}') - continue - - metered_prop = settings['connection'].get('metered', ('i', 0))[1] - if metered_prop == MeteredType.YES: - self._current_network_metered = MeteredType.YES - elif metered_prop == MeteredType.NO: - self._current_network_metered = MeteredType.NO - return - def set_current_network_metered(self, metered: MeteredType): def worker(): - for active_conn in self._get_active_connections(): - conn_addr = DBusAddress(active_conn, bus_name=NM, interface=NM_ACTIVE_CONNECTION_IFACE) - conn_type = self._router_main.send_and_get_reply(Properties(conn_addr).get('Type')).body[0][1] + if self.is_tethering_active(): + return - if conn_type == '802-11-wireless' and not self.is_tethering_active(): - conn_path = self._router_main.send_and_get_reply(Properties(conn_addr).get('Connection')).body[0][1] - if conn_path == "/": - continue + conn_path, _ = self._get_active_wifi_connection() + if conn_path is None: + cloudlog.warning('No active WiFi connection found') + return - settings = self._get_connection_settings(conn_path) + settings = self._get_connection_settings(conn_path) - if len(settings) == 0: - cloudlog.warning(f'Failed to get connection settings for {conn_path}') - return + if len(settings) == 0: + cloudlog.warning(f'Failed to get connection settings for {conn_path}') + return - settings['connection']['metered'] = ('i', int(metered)) + settings['connection']['metered'] = ('i', int(metered)) - conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE) - reply = self._router_main.send_and_get_reply(new_method_call(conn_addr, 'Update', 'a{sa{sv}}', (settings,))) - if reply.header.message_type == MessageType.error: - cloudlog.warning(f'Failed to update tethering settings: {reply}') - return + conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE) + reply = self._router_main.send_and_get_reply(new_method_call(conn_addr, 'Update', 'a{sa{sv}}', (settings,))) + if reply.header.message_type == MessageType.error: + cloudlog.warning(f'Failed to update metered settings: {reply}') threading.Thread(target=worker, daemon=True).start() @@ -593,73 +792,86 @@ class WifiManager: if reply.header.message_type == MessageType.error: cloudlog.warning(f"Failed to request scan: {reply}") - def _update_networks(self): - with self._lock: - if self._wifi_device is None: - cloudlog.warning("No WiFi device found") - return - - # returns '/' if no active AP - wifi_addr = DBusAddress(self._wifi_device, NM, interface=NM_WIRELESS_IFACE) - active_ap_path = self._router_main.send_and_get_reply(Properties(wifi_addr).get('ActiveAccessPoint')).body[0][1] - ap_paths = self._router_main.send_and_get_reply(new_method_call(wifi_addr, 'GetAllAccessPoints')).body[0] - - aps: dict[str, list[AccessPoint]] = {} - - for ap_path in ap_paths: - ap_addr = DBusAddress(ap_path, NM, interface=NM_ACCESS_POINT_IFACE) - ap_props = self._router_main.send_and_get_reply(Properties(ap_addr).get_all()) - - # some APs have been seen dropping off during iteration - if ap_props.header.message_type == MessageType.error: - cloudlog.warning(f"Failed to get AP properties for {ap_path}") - continue - - try: - ap = AccessPoint.from_dbus(ap_props.body[0], ap_path, active_ap_path) - if ap.ssid == "": - continue - - if ap.ssid not in aps: - aps[ap.ssid] = [] - - aps[ap.ssid].append(ap) - except Exception: - # catch all for parsing errors - cloudlog.exception(f"Failed to parse AP properties for {ap_path}") - - known_connections = self._get_connections() - networks = [Network.from_dbus(ssid, ap_list, ssid in known_connections) for ssid, ap_list in aps.items()] - # sort with quantized strength to reduce jumping - networks.sort(key=lambda n: (-n.is_connected, -n.is_saved, -round(n.strength / 100 * 2), n.ssid.lower())) - self._networks = networks - - self._update_ipv4_address() - self._update_current_network_metered() - - self._enqueue_callbacks(self._networks_updated, self._networks) - - def _update_ipv4_address(self): - if self._wifi_device is None: - cloudlog.warning("No WiFi device found") + def _update_networks(self, block: bool = True): + if not self._active: return - self._ipv4_address = "" + def worker(): + with self._lock: + if self._wifi_device is None: + cloudlog.warning("No WiFi device found") + return - for conn_path in self._get_active_connections(): - conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_ACTIVE_CONNECTION_IFACE) - conn_type = self._router_main.send_and_get_reply(Properties(conn_addr).get('Type')).body[0][1] - if conn_type == '802-11-wireless': - ip4config_path = self._router_main.send_and_get_reply(Properties(conn_addr).get('Ip4Config')).body[0][1] + # NOTE: AccessPoints property may exclude hidden APs (use GetAllAccessPoints method if needed) + wifi_addr = DBusAddress(self._wifi_device, NM, interface=NM_WIRELESS_IFACE) + wifi_props = self._router_main.send_and_get_reply(Properties(wifi_addr).get_all()).body[0] + ap_paths = wifi_props.get('AccessPoints', ('ao', []))[1] - if ip4config_path != "/": - ip4config_addr = DBusAddress(ip4config_path, bus_name=NM, interface=NM_IP4_CONFIG_IFACE) - address_data = self._router_main.send_and_get_reply(Properties(ip4config_addr).get('AddressData')).body[0][1] + aps: dict[str, list[AccessPoint]] = {} - for entry in address_data: - if 'address' in entry: - self._ipv4_address = entry['address'][1] - return + for ap_path in ap_paths: + ap_addr = DBusAddress(ap_path, NM, interface=NM_ACCESS_POINT_IFACE) + ap_props = self._router_main.send_and_get_reply(Properties(ap_addr).get_all()) + + # some APs have been seen dropping off during iteration + if ap_props.header.message_type == MessageType.error: + cloudlog.warning(f"Failed to get AP properties for {ap_path}") + continue + + try: + ap = AccessPoint.from_dbus(ap_props.body[0], ap_path) + if ap.ssid == "": + continue + + if ap.ssid not in aps: + aps[ap.ssid] = [] + + aps[ap.ssid].append(ap) + except Exception: + # catch all for parsing errors + cloudlog.exception(f"Failed to parse AP properties for {ap_path}") + + self._networks = [Network.from_dbus(ssid, ap_list, ssid == self._tethering_ssid) for ssid, ap_list in aps.items()] + self._update_active_connection_info() + self._enqueue_callbacks(self._networks_updated, self.networks) # sorted + + if block: + worker() + else: + threading.Thread(target=worker, daemon=True).start() + + def _update_active_connection_info(self): + ipv4_address = "" + metered = MeteredType.UNKNOWN + + conn_path, props = self._get_active_wifi_connection() + + if conn_path is not None and props is not None: + # IPv4 address + ip4config_path = props.get('Ip4Config', ('o', '/'))[1] + + if ip4config_path != "/": + ip4config_addr = DBusAddress(ip4config_path, bus_name=NM, interface=NM_IP4_CONFIG_IFACE) + address_data = self._router_main.send_and_get_reply(Properties(ip4config_addr).get('AddressData')).body[0][1] + + for entry in address_data: + if 'address' in entry: + ipv4_address = entry['address'][1] + break + + # Metered status + settings = self._get_connection_settings(conn_path) + + if len(settings) > 0: + metered_prop = settings['connection'].get('metered', ('i', 0))[1] + + if metered_prop == MeteredType.YES: + metered = MeteredType.YES + elif metered_prop == MeteredType.NO: + metered = MeteredType.NO + + self._ipv4_address = ipv4_address + self._current_network_metered = metered def __del__(self): self.stop() diff --git a/system/ui/mici_reset.py b/system/ui/mici_reset.py index 925afd7d1..357e67293 100755 --- a/system/ui/mici_reset.py +++ b/system/ui/mici_reset.py @@ -150,10 +150,10 @@ def main(): if mode == ResetMode.FORMAT: reset.start_reset() - for should_render in gui_app.render(): - if should_render: - if not reset.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)): - break + gui_app.push_widget(reset) + + for _ in gui_app.render(): + pass if __name__ == "__main__": diff --git a/system/ui/mici_setup.py b/system/ui/mici_setup.py index 3242cc0db..01f88d804 100755 --- a/system/ui/mici_setup.py +++ b/system/ui/mici_setup.py @@ -14,12 +14,14 @@ from collections.abc import Callable import pyray as rl from cereal import log +from openpilot.common.realtime import config_realtime_process, set_core_affinity +from openpilot.common.swaglog import cloudlog from openpilot.common.utils import run_cmd -from openpilot.system.hardware import HARDWARE +from openpilot.system.hardware import HARDWARE, TICI from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.wifi_manager import WifiManager from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2 -from openpilot.system.ui.widgets import Widget, DialogResult +from openpilot.system.ui.widgets import Widget from openpilot.system.ui.widgets.button import (IconButton, SmallButton, WideRoundedButton, SmallerRoundedButton, SmallCircleIconButton, WidishRoundedButton, SmallRedPillButton, FullRoundedButton) @@ -49,11 +51,10 @@ exec ./launch_openpilot.sh class NetworkConnectivityMonitor: - def __init__(self, should_check: Callable[[], bool] | None = None, check_interval: float = 1.0): + def __init__(self, should_check: Callable[[], bool] | None = None): self.network_connected = threading.Event() self.wifi_connected = threading.Event() self._should_check = should_check or (lambda: True) - self._check_interval = check_interval self._stop_event = threading.Event() self._thread: threading.Thread | None = None @@ -78,7 +79,7 @@ class NetworkConnectivityMonitor: if self._should_check(): try: request = urllib.request.Request(OPENPILOT_URL, method="HEAD") - urllib.request.urlopen(request, timeout=1.0) + urllib.request.urlopen(request, timeout=2.0) self.network_connected.set() if HARDWARE.get_network_type() == NetworkType.wifi: self.wifi_connected.set() @@ -87,7 +88,7 @@ class NetworkConnectivityMonitor: else: self.reset() - if self._stop_event.wait(timeout=self._check_interval): + if self._stop_event.wait(timeout=1.0): break @@ -96,10 +97,9 @@ class SetupState(IntEnum): NETWORK_SETUP = 1 NETWORK_SETUP_CUSTOM_SOFTWARE = 2 SOFTWARE_SELECTION = 3 - CUSTOM_SOFTWARE = 4 - DOWNLOADING = 5 - DOWNLOAD_FAILED = 6 - CUSTOM_SOFTWARE_WARNING = 7 + DOWNLOADING = 4 + DOWNLOAD_FAILED = 5 + CUSTOM_SOFTWARE_WARNING = 6 class StartPage(Widget): @@ -128,7 +128,9 @@ class SoftwareSelectionPage(Widget): super().__init__() self._openpilot_slider = LargerSlider("slide to use\nopenpilot", use_openpilot_callback) + self._openpilot_slider.set_enabled(lambda: self.enabled) self._custom_software_slider = LargerSlider("slide to use\ncustom software", use_custom_software_callback, green=False) + self._custom_software_slider.set_enabled(lambda: self.enabled) def reset(self): self._openpilot_slider.reset() @@ -390,9 +392,11 @@ class FailedPage(Widget): self._reboot_button = SmallRedPillButton("reboot") self._reboot_button.set_click_callback(reboot_callback) + self._reboot_button.set_enabled(lambda: self.enabled) # for nav stack self._retry_button = WideRoundedButton("retry") self._retry_button.set_click_callback(retry_callback) + self._retry_button.set_enabled(lambda: self.enabled) # for nav stack def set_reason(self, reason: str): self._reason_label.set_text(reason) @@ -427,15 +431,10 @@ class FailedPage(Widget): )) -class NetworkSetupState(IntEnum): - MAIN = 0 - WIFI_PANEL = 1 - - class NetworkSetupPage(Widget): def __init__(self, wifi_manager, continue_callback: Callable, back_callback: Callable): super().__init__() - self._wifi_ui = WifiUIMici(wifi_manager, back_callback=lambda: self.set_state(NetworkSetupState.MAIN)) + self._wifi_ui = WifiUIMici(wifi_manager) self._no_wifi_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 58, 50) self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 58, 50) @@ -445,76 +444,54 @@ class NetworkSetupPage(Widget): back_txt = gui_app.texture("icons_mici/setup/back_new.png", 37, 32) self._back_button = SmallCircleIconButton(back_txt) self._back_button.set_click_callback(back_callback) + self._back_button.set_enabled(lambda: self.enabled) # for nav stack self._wifi_button = SmallerRoundedButton("wifi") - self._wifi_button.set_click_callback(lambda: self.set_state(NetworkSetupState.WIFI_PANEL)) + self._wifi_button.set_click_callback(lambda: gui_app.push_widget(self._wifi_ui)) + self._wifi_button.set_enabled(lambda: self.enabled) self._continue_button = WidishRoundedButton("continue") self._continue_button.set_enabled(False) self._continue_button.set_click_callback(continue_callback) - self._state = NetworkSetupState.MAIN - self._prev_has_internet = False - - def set_state(self, state: NetworkSetupState): - self._state = state - if state == NetworkSetupState.WIFI_PANEL: - self._wifi_ui.show_event() - def set_has_internet(self, has_internet: bool): if has_internet: self._network_header.set_title("connected to internet") self._network_header.set_icon(self._wifi_full_txt) - self._continue_button.set_enabled(True) + self._continue_button.set_enabled(self.enabled) else: self._network_header.set_title(self._waiting_text) self._network_header.set_icon(self._no_wifi_txt) self._continue_button.set_enabled(False) - if has_internet and not self._prev_has_internet: - self.set_state(NetworkSetupState.MAIN) - self._prev_has_internet = has_internet - - def show_event(self): - super().show_event() - self._state = NetworkSetupState.MAIN - self._wifi_ui.show_event() - - def hide_event(self): - super().hide_event() - self._wifi_ui.hide_event() - def _render(self, _): - if self._state == NetworkSetupState.MAIN: - self._network_header.render(rl.Rectangle( - self._rect.x + 16, - self._rect.y + 16, - self._rect.width - 32, - self._network_header.rect.height, - )) + self._network_header.render(rl.Rectangle( + self._rect.x + 16, + self._rect.y + 16, + self._rect.width - 32, + self._network_header.rect.height, + )) - self._back_button.render(rl.Rectangle( - self._rect.x + 8, - self._rect.y + self._rect.height - self._back_button.rect.height, - self._back_button.rect.width, - self._back_button.rect.height, - )) + self._back_button.render(rl.Rectangle( + self._rect.x + 8, + self._rect.y + self._rect.height - self._back_button.rect.height, + self._back_button.rect.width, + self._back_button.rect.height, + )) - self._wifi_button.render(rl.Rectangle( - self._rect.x + 8 + self._back_button.rect.width + 10, - self._rect.y + self._rect.height - self._wifi_button.rect.height, - self._wifi_button.rect.width, - self._wifi_button.rect.height, - )) + self._wifi_button.render(rl.Rectangle( + self._rect.x + 8 + self._back_button.rect.width + 10, + self._rect.y + self._rect.height - self._wifi_button.rect.height, + self._wifi_button.rect.width, + self._wifi_button.rect.height, + )) - self._continue_button.render(rl.Rectangle( - self._rect.x + self._rect.width - self._continue_button.rect.width - 8, - self._rect.y + self._rect.height - self._continue_button.rect.height, - self._continue_button.rect.width, - self._continue_button.rect.height, - )) - else: - self._wifi_ui.render(self._rect) + self._continue_button.render(rl.Rectangle( + self._rect.x + self._rect.width - self._continue_button.rect.width - 8, + self._rect.y + self._rect.height - self._continue_button.rect.height, + self._continue_button.rect.width, + self._continue_button.rect.height, + )) class Setup(Widget): @@ -531,28 +508,33 @@ class Setup(Widget): self._network_monitor = NetworkConnectivityMonitor() self._network_monitor.start() self._prev_has_internet = False - gui_app.set_modal_overlay_tick(self._modal_overlay_tick) + gui_app.set_nav_stack_tick(self._nav_stack_tick) self._start_page = StartPage() self._start_page.set_click_callback(self._getting_started_button_callback) self._network_setup_page = NetworkSetupPage(self._wifi_manager, self._network_setup_continue_button_callback, self._network_setup_back_button_callback) + # TODO: change these to touch_valid + self._network_setup_page.set_enabled(lambda: self.enabled) # for nav stack self._software_selection_page = SoftwareSelectionPage(self._software_selection_continue_button_callback, self._software_selection_custom_software_button_callback) + self._software_selection_page.set_enabled(lambda: self.enabled) # for nav stack self._download_failed_page = FailedPage(HARDWARE.reboot, self._download_failed_startover_button_callback) + self._download_failed_page.set_enabled(lambda: self.enabled) # for nav stack self._custom_software_warning_page = CustomSoftwareWarningPage(self._software_selection_custom_software_continue, self._custom_software_warning_back_button_callback) + self._custom_software_warning_page.set_enabled(lambda: self.enabled) # for nav stack self._downloading_page = DownloadingPage() - def _modal_overlay_tick(self): + def _nav_stack_tick(self): has_internet = self._network_monitor.network_connected.is_set() if has_internet and not self._prev_has_internet: - gui_app.set_modal_overlay(None) + gui_app.pop_widgets_to(self) self._prev_has_internet = has_internet def _update_state(self): @@ -580,8 +562,6 @@ class Setup(Widget): self._software_selection_page.render(rect) elif self.state == SetupState.CUSTOM_SOFTWARE_WARNING: self._custom_software_warning_page.render(rect) - elif self.state == SetupState.CUSTOM_SOFTWARE: - self.render_custom_software() elif self.state == SetupState.DOWNLOADING: self.render_downloading(rect) elif self.state == SetupState.DOWNLOAD_FAILED: @@ -612,14 +592,19 @@ class Setup(Widget): if self.state == SetupState.NETWORK_SETUP: self.download(OPENPILOT_URL) elif self.state == SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE: - self._set_state(SetupState.CUSTOM_SOFTWARE) + def handle_keyboard_result(text): + url = text.strip() + if url: + self.download(url) + + keyboard = BigInputDialog("custom software URL", confirm_callback=handle_keyboard_result) + gui_app.push_widget(keyboard) def close(self): self._network_monitor.stop() def render_network_setup(self, rect: rl.Rectangle): has_internet = self._network_monitor.network_connected.is_set() - self._prev_has_internet = has_internet self._network_setup_page.set_has_internet(has_internet) self._network_setup_page.render(rect) @@ -627,19 +612,6 @@ class Setup(Widget): self._downloading_page.set_progress(self.download_progress) self._downloading_page.render(rect) - def render_custom_software(self): - def handle_keyboard_result(text): - url = text.strip() - if url: - self.download(url) - - def handle_keyboard_exit(result): - if result == DialogResult.CANCEL: - self._set_state(SetupState.SOFTWARE_SELECTION) - - keyboard = BigInputDialog("custom software URL", confirm_callback=handle_keyboard_result) - gui_app.set_modal_overlay(keyboard, callback=handle_keyboard_exit) - def use_openpilot(self): if os.path.isdir(INSTALL_PATH) and os.path.isfile(VALID_CACHE_PATH): os.remove(VALID_CACHE_PATH) @@ -733,12 +705,20 @@ class Setup(Widget): def main(): + config_realtime_process(0, 51) + # attempt to affine. AGNOS will start setup with all cores, should only fail when manually launching with screen off + if TICI: + try: + set_core_affinity([5]) + except OSError: + cloudlog.exception("Failed to set core affinity for setup process") + try: gui_app.init_window("Setup") setup = Setup() - for should_render in gui_app.render(): - if should_render: - setup.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) + gui_app.push_widget(setup) + for _ in gui_app.render(): + pass setup.close() except Exception as e: print(f"Setup error: {e}") diff --git a/system/ui/mici_updater.py b/system/ui/mici_updater.py index 7ebb4262f..5de72ac8c 100755 --- a/system/ui/mici_updater.py +++ b/system/ui/mici_updater.py @@ -8,7 +8,7 @@ from enum import IntEnum from openpilot.system.hardware import HARDWARE from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.text_measure import measure_text_cached -from openpilot.system.ui.lib.wifi_manager import WifiManager, Network +from openpilot.system.ui.lib.wifi_manager import WifiManager from openpilot.system.ui.widgets import Widget from openpilot.system.ui.widgets.label import gui_text_box, gui_label, UnifiedLabel from openpilot.system.ui.widgets.button import FullRoundedButton @@ -28,7 +28,6 @@ class Updater(Widget): self.updater = updater_path self.manifest = manifest_path self.current_screen = Screen.PROMPT - self._current_network_strength = -1 self.progress_value = 0 self.progress_text = "loading" @@ -39,8 +38,8 @@ class Updater(Widget): self._network_setup_page = NetworkSetupPage(self._wifi_manager, self._network_setup_continue_callback, self._network_setup_back_callback) + self._network_setup_page.set_enabled(lambda: self.enabled) # for nav stack - self._wifi_manager.add_callbacks(networks_updated=self._on_network_updated) self._network_monitor = NetworkConnectivityMonitor() self._network_monitor.start() @@ -66,9 +65,6 @@ class Updater(Widget): def _update_failed_retry_callback(self): self.set_current_screen(Screen.PROMPT) - def _on_network_updated(self, networks: list[Network]): - self._current_network_strength = next((net.strength for net in networks if net.is_connected), -1) - def set_current_screen(self, screen: Screen): if self.current_screen != screen: if screen == Screen.PROGRESS: @@ -187,9 +183,9 @@ def main(): try: gui_app.init_window("System Update") updater = Updater(updater_path, manifest_path) - for should_render in gui_app.render(): - if should_render: - updater.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) + gui_app.push_widget(updater) + for _ in gui_app.render(): + pass updater.close() except Exception as e: print(f"Updater error: {e}") diff --git a/system/ui/sunnypilot/widgets/html_render.py b/system/ui/sunnypilot/widgets/html_render.py index 259067723..a0018f5be 100644 --- a/system/ui/sunnypilot/widgets/html_render.py +++ b/system/ui/sunnypilot/widgets/html_render.py @@ -18,7 +18,7 @@ class HtmlModalSP(HtmlModal): def _on_ok_clicked(self): self._dialog_result = DialogResult.CONFIRM - gui_app.set_modal_overlay(None) + gui_app.pop_widget() if self._callback: self._callback(self._dialog_result) diff --git a/system/ui/sunnypilot/widgets/input_dialog.py b/system/ui/sunnypilot/widgets/input_dialog.py index ed67302fc..83b7edacf 100644 --- a/system/ui/sunnypilot/widgets/input_dialog.py +++ b/system/ui/sunnypilot/widgets/input_dialog.py @@ -39,4 +39,5 @@ class InputDialogSP: if self.callback: self.callback(result, text) - gui_app.set_modal_overlay(self.keyboard, internal_callback) + self.keyboard.set_callback(internal_callback) + gui_app.push_widget(self.keyboard) diff --git a/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py b/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py index af6b9cf45..77e8b5fd2 100644 --- a/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py +++ b/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py @@ -45,7 +45,7 @@ class SunnylinkPairingDialog(PairingDialog): def _update_state(self): is_paired = ui_state.sunnylink_state.is_paired() if not self._is_paired_prev and is_paired: - gui_app.set_modal_overlay(None) + gui_app.pop_widget() def _render(self, rect: rl.Rectangle) -> int: rl.clear_background(rl.Color(224, 224, 224, 255)) diff --git a/system/ui/sunnypilot/widgets/tree_dialog.py b/system/ui/sunnypilot/widgets/tree_dialog.py index 2dd5e3a2d..c34db092e 100644 --- a/system/ui/sunnypilot/widgets/tree_dialog.py +++ b/system/ui/sunnypilot/widgets/tree_dialog.py @@ -8,7 +8,7 @@ from dataclasses import dataclass, field import pyray as rl from openpilot.common.params import Params -from openpilot.system.ui.lib.application import FontWeight, gui_app +from openpilot.system.ui.lib.application import FontWeight from openpilot.system.ui.lib.multilang import tr from openpilot.system.ui.widgets import DialogResult from openpilot.system.ui.widgets.button import Button, ButtonStyle, BUTTON_PRESSED_BACKGROUND_COLORS @@ -76,6 +76,14 @@ class TreeItemWidget(Button): class TreeOptionDialog(MultiOptionDialog): + @property + def on_exit(self): + return self._callback + + @on_exit.setter + def on_exit(self, value): + self._callback = value + def __init__(self, title, folders, current_ref="", fav_param="", option_font_weight=FontWeight.MEDIUM, search_prompt=None, get_folders_fn=None, on_exit=None, display_func=None, search_funcs=None, search_title=None, search_subtitle=None): super().__init__(title, [], current_ref, option_font_weight) @@ -124,7 +132,6 @@ class TreeOptionDialog(MultiOptionDialog): if result == DialogResult.CONFIRM: self.query = text self._build_visible_items() - gui_app.set_modal_overlay(self, callback=self.on_exit) def _on_search_clicked(self): self.search_dialog = InputDialogSP( @@ -266,8 +273,6 @@ class TreeOptionDialog(MultiOptionDialog): self.select_button.set_enabled(self.selection != self.current) self.select_button.render(select_rect) - return self._result - def _handle_mouse_press(self, mouse_pos): if self._search_rect and rl.check_collision_point_rec(mouse_pos, self._search_rect): self._search_pressed = True diff --git a/system/ui/tici_reset.py b/system/ui/tici_reset.py index 3922c27aa..23f6b344e 100755 --- a/system/ui/tici_reset.py +++ b/system/ui/tici_reset.py @@ -36,13 +36,9 @@ class Reset(Widget): self._mode = mode self._previous_reset_state = None self._reset_state = ResetState.NONE - self._cancel_button = Button("Cancel", self._cancel_callback) + self._cancel_button = Button("Cancel", gui_app.request_close) self._confirm_button = Button("Confirm", self._confirm, button_style=ButtonStyle.PRIMARY) self._reboot_button = Button("Reboot", lambda: os.system("sudo reboot")) - self._render_status = True - - def _cancel_callback(self): - self._render_status = False def _do_erase(self): if PC: @@ -69,30 +65,30 @@ class Reset(Widget): elif self._reset_state != ResetState.RESETTING and (time.monotonic() - self._timeout_st) > TIMEOUT: exit(0) - def _render(self, rect: rl.Rectangle): - label_rect = rl.Rectangle(rect.x + 140, rect.y, rect.width - 280, 100 * FONT_SCALE) + def _render(self, _): + content_rect = rl.Rectangle(45, 200, self._rect.width - 90, self._rect.height - 245) + + label_rect = rl.Rectangle(content_rect.x + 140, content_rect.y, content_rect.width - 280, 100 * FONT_SCALE) gui_label(label_rect, "System Reset", 100, font_weight=FontWeight.BOLD) - text_rect = rl.Rectangle(rect.x + 140, rect.y + 140, rect.width - 280, rect.height - 90 - 100 * FONT_SCALE) + text_rect = rl.Rectangle(content_rect.x + 140, content_rect.y + 140, content_rect.width - 280, content_rect.height - 90 - 100 * FONT_SCALE) gui_text_box(text_rect, self._get_body_text(), 90) button_height = 160 button_spacing = 50 - button_top = rect.y + rect.height - button_height - button_width = (rect.width - button_spacing) / 2.0 + button_top = content_rect.y + content_rect.height - button_height + button_width = (content_rect.width - button_spacing) / 2.0 if self._reset_state != ResetState.RESETTING: if self._mode == ResetMode.RECOVER: - self._reboot_button.render(rl.Rectangle(rect.x, button_top, button_width, button_height)) + self._reboot_button.render(rl.Rectangle(content_rect.x, button_top, button_width, button_height)) elif self._mode == ResetMode.USER_RESET: - self._cancel_button.render(rl.Rectangle(rect.x, button_top, button_width, button_height)) + self._cancel_button.render(rl.Rectangle(content_rect.x, button_top, button_width, button_height)) if self._reset_state != ResetState.FAILED: - self._confirm_button.render(rl.Rectangle(rect.x + button_width + 50, button_top, button_width, button_height)) + self._confirm_button.render(rl.Rectangle(content_rect.x + button_width + 50, button_top, button_width, button_height)) else: - self._reboot_button.render(rl.Rectangle(rect.x, button_top, rect.width, button_height)) - - return self._render_status + self._reboot_button.render(rl.Rectangle(content_rect.x, button_top, content_rect.width, button_height)) def _confirm(self): if self._reset_state == ResetState.CONFIRM: @@ -126,10 +122,10 @@ def main(): if mode == ResetMode.FORMAT: reset.start_reset() - for should_render in gui_app.render(): - if should_render: - if not reset.render(rl.Rectangle(45, 200, gui_app.width - 90, gui_app.height - 245)): - break + gui_app.push_widget(reset) + + for _ in gui_app.render(): + pass if __name__ == "__main__": diff --git a/system/ui/tici_setup.py b/system/ui/tici_setup.py index bf64361be..8098e9ea2 100755 --- a/system/ui/tici_setup.py +++ b/system/ui/tici_setup.py @@ -16,7 +16,7 @@ from openpilot.common.utils import run_cmd from openpilot.system.hardware import HARDWARE from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE -from openpilot.system.ui.widgets import Widget +from openpilot.system.ui.widgets import DialogResult, Widget from openpilot.system.ui.widgets.button import Button, ButtonStyle, ButtonRadio from openpilot.system.ui.widgets.keyboard import Keyboard from openpilot.system.ui.widgets.label import Label @@ -218,7 +218,7 @@ class Setup(Widget): while not self.stop_network_check_thread.is_set(): if self.state == SetupState.NETWORK_SETUP: try: - urllib.request.urlopen(OPENPILOT_URL, timeout=2) + urllib.request.urlopen(OPENPILOT_URL, timeout=2.0) self.network_connected.set() if HARDWARE.get_network_type() == NetworkType.wifi: self.wifi_connected.set() @@ -226,7 +226,7 @@ class Setup(Widget): self.wifi_connected.clear() except Exception: self.network_connected.clear() - time.sleep(1) + time.sleep(1.0) def start_network_check(self): if self.network_check_thread is None or not self.network_check_thread.is_alive(): @@ -327,19 +327,20 @@ class Setup(Widget): def render_custom_software(self): def handle_keyboard_result(result): # Enter pressed - if result == 1: + if result == DialogResult.CONFIRM: url = self.keyboard.text self.keyboard.clear() if url: self.download(url) # Cancel pressed - elif result == 0: + elif result == DialogResult.CANCEL: self.state = SetupState.SOFTWARE_SELECTION self.keyboard.reset(min_text_size=1) self.keyboard.set_title("Enter URL", "for Custom Software") - gui_app.set_modal_overlay(self.keyboard, callback=handle_keyboard_result) + self.keyboard.set_callback(handle_keyboard_result) + gui_app.push_widget(self.keyboard) def use_openpilot(self): if os.path.isdir(INSTALL_PATH) and os.path.isfile(VALID_CACHE_PATH): @@ -437,9 +438,9 @@ def main(): try: gui_app.init_window("Setup", 20) setup = Setup() - for should_render in gui_app.render(): - if should_render: - setup.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) + gui_app.push_widget(setup) + for _ in gui_app.render(): + pass setup.close() except Exception as e: print(f"Setup error: {e}") diff --git a/system/ui/tici_updater.py b/system/ui/tici_updater.py index ebf4b3bec..9824638cd 100755 --- a/system/ui/tici_updater.py +++ b/system/ui/tici_updater.py @@ -161,10 +161,9 @@ def main(): try: gui_app.init_window("System Update") - updater = Updater(updater_path, manifest_path) - for should_render in gui_app.render(): - if should_render: - updater.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) + gui_app.push_widget(Updater(updater_path, manifest_path)) + for _ in gui_app.render(): + pass finally: # Make sure we clean up even if there's an error gui_app.close() diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index b3b1276a5..cc8d72959 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -4,7 +4,6 @@ import abc import pyray as rl from enum import IntEnum from collections.abc import Callable -from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter from openpilot.system.ui.lib.application import gui_app, MousePos, MAX_TOUCH_SLOTS, MouseEvent try: @@ -105,14 +104,25 @@ class Widget(abc.ABC): self._layout() ret = self._render(self._rect) + if gui_app.show_touches: + self._draw_debug_rect() + # Keep track of whether mouse down started within the widget's rectangle if self.enabled and self.__was_awake: self._process_mouse_events() + else: + # TODO: ideally we emit release events when going disabled + self.__is_pressed = [False] * MAX_TOUCH_SLOTS + self.__tracking_is_pressed = [False] * MAX_TOUCH_SLOTS self.__was_awake = device.awake return ret + def _draw_debug_rect(self) -> None: + rl.draw_rectangle_lines(int(self._rect.x), int(self._rect.y), + max(int(self._rect.width), 1), max(int(self._rect.height), 1), rl.RED) + def _process_mouse_events(self) -> None: hit_rect = self._hit_rect touch_valid = self._touch_valid() @@ -181,216 +191,7 @@ class Widget(abc.ABC): def show_event(self): """Optionally handle show event. Parent must manually call this""" + # TODO: iterate through all child objects, check for subclassing from Widget/Layout (Scroller) def hide_event(self): """Optionally handle hide event. Parent must manually call this""" - - -SWIPE_AWAY_THRESHOLD = 80 # px to dismiss after releasing -START_DISMISSING_THRESHOLD = 40 # px to start dismissing while dragging -BLOCK_SWIPE_AWAY_THRESHOLD = 60 # px horizontal movement to block swipe away - -NAV_BAR_MARGIN = 6 -NAV_BAR_WIDTH = 205 -NAV_BAR_HEIGHT = 8 - -DISMISS_PUSH_OFFSET = 50 + NAV_BAR_MARGIN + NAV_BAR_HEIGHT # px extra to push down when dismissing -DISMISS_TIME_SECONDS = 2.0 - - -class NavBar(Widget): - def __init__(self): - super().__init__() - self.set_rect(rl.Rectangle(0, 0, NAV_BAR_WIDTH, NAV_BAR_HEIGHT)) - self._alpha = 1.0 - self._alpha_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps) - self._fade_time = 0.0 - - def set_alpha(self, alpha: float) -> None: - self._alpha = alpha - self._fade_time = rl.get_time() - - def show_event(self): - super().show_event() - self._alpha = 1.0 - self._alpha_filter.x = 1.0 - self._fade_time = rl.get_time() - - def _render(self, _): - if rl.get_time() - self._fade_time > DISMISS_TIME_SECONDS: - self._alpha = 0.0 - alpha = self._alpha_filter.update(self._alpha) - - # white bar with black border - rl.draw_rectangle_rounded(self._rect, 1.0, 6, rl.Color(255, 255, 255, int(255 * 0.9 * alpha))) - rl.draw_rectangle_rounded_lines_ex(self._rect, 1.0, 6, 2, rl.Color(0, 0, 0, int(255 * 0.3 * alpha))) - - -class NavWidget(Widget, abc.ABC): - """ - A full screen widget that supports back navigation by swiping down from the top. - """ - BACK_TOUCH_AREA_PERCENTAGE = 0.65 - - def __init__(self): - super().__init__() - self._back_callback: Callable[[], None] | None = None - self._back_button_start_pos: MousePos | None = None - self._swiping_away = False # currently swiping away - self._can_swipe_away = True # swipe away is blocked after certain horizontal movement - - self._pos_filter = BounceFilter(0.0, 0.1, 1 / gui_app.target_fps, bounce=1) - self._playing_dismiss_animation = False - self._trigger_animate_in = False - self._nav_bar_show_time = 0.0 - self._back_enabled: bool | Callable[[], bool] = True - self._nav_bar = NavBar() - - self._nav_bar_y_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps) - - self._set_up = False - - @property - def back_enabled(self) -> bool: - return self._back_enabled() if callable(self._back_enabled) else self._back_enabled - - def set_back_enabled(self, enabled: bool | Callable[[], bool]) -> None: - self._back_enabled = enabled - - def set_back_callback(self, callback: Callable[[], None]) -> None: - self._back_callback = callback - - def _handle_mouse_event(self, mouse_event: MouseEvent) -> None: - super()._handle_mouse_event(mouse_event) - - if not self.back_enabled: - self._back_button_start_pos = None - self._swiping_away = False - self._can_swipe_away = True - return - - if mouse_event.left_pressed: - # user is able to swipe away if starting near top of screen, or anywhere if scroller is at top - self._pos_filter.update_alpha(0.04) - in_dismiss_area = mouse_event.pos.y < self._rect.height * self.BACK_TOUCH_AREA_PERCENTAGE - - scroller_at_top = False - vertical_scroller = False - # TODO: -20? snapping in WiFi dialog can make offset not be positive at the top - if hasattr(self, '_scroller'): - scroller_at_top = self._scroller.scroll_panel.get_offset() >= -20 and not self._scroller._horizontal - vertical_scroller = not self._scroller._horizontal - elif hasattr(self, '_scroll_panel'): - scroller_at_top = self._scroll_panel.get_offset() >= -20 and not self._scroll_panel._horizontal - vertical_scroller = not self._scroll_panel._horizontal - - # Vertical scrollers need to be at the top to swipe away to prevent erroneous swipes - if (not vertical_scroller and in_dismiss_area) or scroller_at_top: - self._can_swipe_away = True - self._back_button_start_pos = mouse_event.pos - - elif mouse_event.left_down: - if self._back_button_start_pos is not None: - # block swiping away if too much horizontal or upward movement - horizontal_movement = abs(mouse_event.pos.x - self._back_button_start_pos.x) > BLOCK_SWIPE_AWAY_THRESHOLD - upward_movement = mouse_event.pos.y - self._back_button_start_pos.y < -BLOCK_SWIPE_AWAY_THRESHOLD - if not self._swiping_away and (horizontal_movement or upward_movement): - self._can_swipe_away = False - self._back_button_start_pos = None - - # block horizontal swiping if now swiping away - if self._can_swipe_away: - if mouse_event.pos.y - self._back_button_start_pos.y > START_DISMISSING_THRESHOLD: - self._swiping_away = True - - elif mouse_event.left_released: - self._pos_filter.update_alpha(0.1) - # if far enough, trigger back navigation callback - if self._back_button_start_pos is not None: - if mouse_event.pos.y - self._back_button_start_pos.y > SWIPE_AWAY_THRESHOLD: - self._playing_dismiss_animation = True - - self._back_button_start_pos = None - self._swiping_away = False - - def _update_state(self): - super()._update_state() - - # Disable self's scroller while swiping away - if not self._set_up: - self._set_up = True - if hasattr(self, '_scroller'): - original_enabled = self._scroller._enabled - self._scroller.set_enabled(lambda: not self._swiping_away and (original_enabled() if callable(original_enabled) else - original_enabled)) - elif hasattr(self, '_scroll_panel'): - original_enabled = self._scroll_panel.enabled - self._scroll_panel.set_enabled(lambda: not self._swiping_away and (original_enabled() if callable(original_enabled) else - original_enabled)) - - if self._trigger_animate_in: - self._pos_filter.x = self._rect.height - self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT - self._nav_bar_show_time = rl.get_time() - self._trigger_animate_in = False - - new_y = 0.0 - - if self._back_button_start_pos is not None: - last_mouse_event = gui_app.last_mouse_event - # push entire widget as user drags it away - new_y = max(last_mouse_event.pos.y - self._back_button_start_pos.y, 0) - if new_y < SWIPE_AWAY_THRESHOLD: - new_y /= 2 # resistance until mouse release would dismiss widget - - if self._swiping_away: - self._nav_bar.set_alpha(1.0) - - if self._playing_dismiss_animation: - new_y = self._rect.height + DISMISS_PUSH_OFFSET - - new_y = round(self._pos_filter.update(new_y)) - if abs(new_y) < 1 and self._pos_filter.velocity.x == 0.0: - new_y = self._pos_filter.x = 0.0 - - if new_y > self._rect.height + DISMISS_PUSH_OFFSET - 10: - if self._back_callback is not None: - self._back_callback() - - self._playing_dismiss_animation = False - self._back_button_start_pos = None - self._swiping_away = False - - self.set_position(self._rect.x, new_y) - - def render(self, rect: rl.Rectangle | None = None) -> bool | int | None: - ret = super().render(rect) - - if self.back_enabled: - bar_x = self._rect.x + (self._rect.width - self._nav_bar.rect.width) / 2 - nav_bar_delayed = rl.get_time() - self._nav_bar_show_time < 0.4 - # User dragging or dismissing, nav bar follows NavWidget - if self._back_button_start_pos is not None or self._playing_dismiss_animation: - self._nav_bar_y_filter.x = NAV_BAR_MARGIN + self._pos_filter.x - # Waiting to show - elif nav_bar_delayed: - self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT - # Animate back to top - else: - self._nav_bar_y_filter.update(NAV_BAR_MARGIN) - - # draw black above widget when dismissing - if self._rect.y > 0: - rl.draw_rectangle(int(self._rect.x), 0, int(self._rect.width), int(self._rect.y), rl.BLACK) - - self._nav_bar.set_position(bar_x, round(self._nav_bar_y_filter.x)) - self._nav_bar.render() - - return ret - - def show_event(self): - super().show_event() - # FIXME: we don't know the height of the rect at first show_event since it's before the first render :( - # so we need this hacky bool for now - self._trigger_animate_in = True - self._nav_bar.show_event() diff --git a/system/ui/widgets/button.py b/system/ui/widgets/button.py index 9c0ea75b4..67125d709 100644 --- a/system/ui/widgets/button.py +++ b/system/ui/widgets/button.py @@ -232,7 +232,7 @@ class SmallButton(Widget): self._load_assets() - self._label = UnifiedLabel(text, 36, font_weight=FontWeight.MEDIUM, + self._label = UnifiedLabel(text, 36, font_weight=FontWeight.SEMI_BOLD, text_color=rl.Color(255, 255, 255, int(255 * 0.9)), alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE) diff --git a/system/ui/widgets/confirm_dialog.py b/system/ui/widgets/confirm_dialog.py index 97618660b..354483676 100644 --- a/system/ui/widgets/confirm_dialog.py +++ b/system/ui/widgets/confirm_dialog.py @@ -1,4 +1,5 @@ import pyray as rl +from collections.abc import Callable from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.multilang import tr from openpilot.system.ui.widgets import DialogResult @@ -17,7 +18,7 @@ BACKGROUND_COLOR = rl.Color(27, 27, 27, 255) class ConfirmDialog(Widget): - def __init__(self, text: str, confirm_text: str, cancel_text: str | None = None, rich: bool = False): + def __init__(self, text: str, confirm_text: str, cancel_text: str | None = None, rich: bool = False, callback: Callable[[DialogResult], None] | None = None): super().__init__() if cancel_text is None: cancel_text = tr("Cancel") @@ -26,7 +27,7 @@ class ConfirmDialog(Widget): self._cancel_button = Button(cancel_text, self._cancel_button_callback) self._confirm_button = Button(confirm_text, self._confirm_button_callback, button_style=ButtonStyle.PRIMARY) self._rich = rich - self._dialog_result = DialogResult.NO_ACTION + self._callback = callback self._cancel_text = cancel_text self._scroller = Scroller([self._html_renderer], line_separator=False, spacing=0) @@ -36,14 +37,15 @@ class ConfirmDialog(Widget): else: self._html_renderer.parse_html_content(text) - def reset(self): - self._dialog_result = DialogResult.NO_ACTION - def _cancel_button_callback(self): - self._dialog_result = DialogResult.CANCEL + gui_app.pop_widget() + if self._callback: + self._callback(DialogResult.CANCEL) def _confirm_button_callback(self): - self._dialog_result = DialogResult.CONFIRM + gui_app.pop_widget() + if self._callback: + self._callback(DialogResult.CONFIRM) def _render(self, rect: rl.Rectangle): dialog_x = OUTER_MARGIN if not self._rich else RICH_OUTER_MARGIN @@ -73,9 +75,9 @@ class ConfirmDialog(Widget): self._scroller.render(text_rect) if rl.is_key_pressed(rl.KeyboardKey.KEY_ENTER): - self._dialog_result = DialogResult.CONFIRM + self._confirm_button_callback() elif rl.is_key_pressed(rl.KeyboardKey.KEY_ESCAPE): - self._dialog_result = DialogResult.CANCEL + self._cancel_button_callback() if self._cancel_text: self._confirm_button.render(confirm_button) @@ -85,8 +87,6 @@ class ConfirmDialog(Widget): full_confirm_button = rl.Rectangle(dialog_rect.x + MARGIN, button_y, full_button_width, BUTTON_HEIGHT) self._confirm_button.render(full_confirm_button) - return self._dialog_result - def alert_dialog(message: str, button_text: str | None = None): if button_text is None: diff --git a/system/ui/widgets/html_render.py b/system/ui/widgets/html_render.py index 7d90d5692..77fca9fe3 100644 --- a/system/ui/widgets/html_render.py +++ b/system/ui/widgets/html_render.py @@ -260,7 +260,7 @@ class HtmlModal(Widget): super().__init__() self._content = HtmlRenderer(file_path=file_path, text=text) self._scroll_panel = GuiScrollPanel() - self._ok_button = Button(tr("OK"), click_callback=lambda: gui_app.set_modal_overlay(None), button_style=ButtonStyle.PRIMARY) + self._ok_button = Button(tr("OK"), click_callback=gui_app.pop_widget, button_style=ButtonStyle.PRIMARY) def _render(self, rect: rl.Rectangle): margin = 50 diff --git a/system/ui/widgets/icon_widget.py b/system/ui/widgets/icon_widget.py new file mode 100644 index 000000000..bf7790b93 --- /dev/null +++ b/system/ui/widgets/icon_widget.py @@ -0,0 +1,16 @@ +import pyray as rl +from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.widgets import Widget + + +class IconWidget(Widget): + def __init__(self, image_path: str, size: tuple[int, int], opacity: float = 1.0): + super().__init__() + self._texture = gui_app.texture(image_path, size[0], size[1]) + self._opacity = opacity + self.set_rect(rl.Rectangle(0, 0, float(size[0]), float(size[1]))) + self.set_enabled(False) + + def _render(self, _) -> None: + color = rl.Color(255, 255, 255, int(self._opacity * 255)) + rl.draw_texture_ex(self._texture, rl.Vector2(self._rect.x, self._rect.y), 0.0, 1.0, color) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index 4ec92f507..49c59a431 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -1,12 +1,13 @@ from functools import partial import time from typing import Literal +from collections.abc import Callable import pyray as rl from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.multilang import tr -from openpilot.system.ui.widgets import Widget +from openpilot.system.ui.widgets import DialogResult, Widget from openpilot.system.ui.widgets.button import ButtonStyle, Button from openpilot.system.ui.widgets.inputbox import InputBox from openpilot.system.ui.widgets.label import Label @@ -58,7 +59,8 @@ KEYBOARD_LAYOUTS = { class Keyboard(Widget): - def __init__(self, max_text_size: int = 255, min_text_size: int = 0, password_mode: bool = False, show_password_toggle: bool = False): + def __init__(self, max_text_size: int = 255, min_text_size: int = 0, password_mode: bool = False, show_password_toggle: bool = False, + callback: Callable[[DialogResult], None] | None = None): super().__init__() self._layout_name: Literal["lowercase", "uppercase", "numbers", "specials"] = "lowercase" self._caps_lock = False @@ -71,13 +73,13 @@ class Keyboard(Widget): self._input_box = InputBox(max_text_size) self._password_mode = password_mode self._show_password_toggle = show_password_toggle + self._callback = callback # Backspace key repeat tracking self._backspace_pressed: bool = False self._backspace_press_time: float = 0.0 self._backspace_last_repeat: float = 0.0 - self._render_return_status = -1 self._cancel_button = Button(lambda: tr("Cancel"), self._cancel_button_callback) self._eye_button = Button("", self._eye_button_callback, button_style=ButtonStyle.TRANSPARENT) @@ -122,16 +124,23 @@ class Keyboard(Widget): self._title.set_text(title) self._sub_title.set_text(sub_title) + def set_callback(self, callback: Callable[[DialogResult], None] | None): + self._callback = callback + def _eye_button_callback(self): self._password_mode = not self._password_mode def _cancel_button_callback(self): self.clear() - self._render_return_status = 0 + gui_app.pop_widget() + if self._callback: + self._callback(DialogResult.CANCEL) def _key_callback(self, k): if k == ENTER_KEY: - self._render_return_status = 1 + gui_app.pop_widget() + if self._callback: + self._callback(DialogResult.CONFIRM) else: self.handle_key_press(k) @@ -197,8 +206,6 @@ class Keyboard(Widget): self._all_keys[key].set_enabled(is_enabled) self._all_keys[key].render(key_rect) - return self._render_return_status - def _render_input_area(self, input_rect: rl.Rectangle): if self._show_password_toggle: self._input_box.set_password_mode(self._password_mode) @@ -250,7 +257,6 @@ class Keyboard(Widget): def reset(self, min_text_size: int | None = None): if min_text_size is not None: self._min_text_size = min_text_size - self._render_return_status = -1 self._last_shift_press_time = 0 self._backspace_pressed = False self._backspace_press_time = 0.0 @@ -259,15 +265,18 @@ class Keyboard(Widget): if __name__ == "__main__": - gui_app.init_window("Keyboard") - keyboard = Keyboard(min_text_size=8, show_password_toggle=True) - for _ in gui_app.render(): - keyboard.set_title("Keyboard Input", "Type your text below") - result = keyboard.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) - if result == 1: + def callback(result: DialogResult): + if result == DialogResult.CONFIRM: print(f"You typed: {keyboard.text}") - gui_app.request_close() - elif result == 0: + elif result == DialogResult.CANCEL: print("Canceled") - gui_app.request_close() + gui_app.request_close() + + gui_app.init_window("Keyboard") + keyboard = Keyboard(min_text_size=8, show_password_toggle=True, callback=callback) + keyboard.set_title("Keyboard Input", "Type your text below") + + gui_app.push_widget(keyboard) + for _ in gui_app.render(): + pass gui_app.close() diff --git a/system/ui/widgets/label.py b/system/ui/widgets/label.py index cb0cf66b1..8ed9ec62f 100644 --- a/system/ui/widgets/label.py +++ b/system/ui/widgets/label.py @@ -489,6 +489,13 @@ class UnifiedLabel(Widget): self._spacing_pixels = self._font_size * letter_spacing self._cached_text = None # Invalidate cache + def set_line_height(self, line_height: float): + """Update line height (multiplier, e.g., 1.0 = default).""" + new_line_height = line_height * 0.9 + if self._line_height != new_line_height: + self._line_height = new_line_height + self._cached_text = None # Invalidate cache (affects total height) + def set_font_weight(self, font_weight: FontWeight): """Update the font weight.""" if self._font_weight != font_weight: @@ -753,7 +760,12 @@ class UnifiedLabel(Widget): # draw black fade on left and right fade_width = 20 rl.draw_rectangle_gradient_h(int(self._rect.x + self._rect.width - fade_width), int(self._rect.y), fade_width, int(self._rect.height), rl.BLANK, rl.BLACK) - if self._scroll_state != ScrollState.STARTING: + + # stop drawing left fade once text scrolls past + text_width = visible_sizes[0].x if visible_sizes else 0 + first_copy_in_view = self._scroll_offset + text_width > 0 + draw_left_fade = self._scroll_state != ScrollState.STARTING and first_copy_in_view + if draw_left_fade: rl.draw_rectangle_gradient_h(int(self._rect.x), int(self._rect.y), fade_width, int(self._rect.height), rl.BLACK, rl.BLANK) rl.end_scissor_mode() diff --git a/system/ui/widgets/layouts.py b/system/ui/widgets/layouts.py new file mode 100644 index 000000000..6f97fe5ed --- /dev/null +++ b/system/ui/widgets/layouts.py @@ -0,0 +1,60 @@ +from enum import IntFlag +from openpilot.system.ui.widgets import Widget + + +class Alignment(IntFlag): + LEFT = 0 + # TODO: implement + # H_CENTER = 2 + # RIGHT = 4 + + TOP = 8 + V_CENTER = 16 + BOTTOM = 32 + + +class HBoxLayout(Widget): + """ + A Widget that lays out child Widgets horizontally. + """ + + def __init__(self, widgets: list[Widget] | None = None, spacing: int = 0, + alignment: Alignment = Alignment.LEFT | Alignment.V_CENTER): + super().__init__() + self._widgets: list[Widget] = [] + self._spacing = spacing + self._alignment = alignment + + if widgets is not None: + for widget in widgets: + self.add_widget(widget) + + @property + def widgets(self) -> list[Widget]: + return self._widgets + + def add_widget(self, widget: Widget) -> None: + self._widgets.append(widget) + + def _render(self, _): + visible_widgets = [w for w in self._widgets if w.is_visible] + + cur_offset_x = 0 + + for idx, widget in enumerate(visible_widgets): + spacing = self._spacing if (idx > 0) else 0 + + x = self._rect.x + cur_offset_x + spacing + cur_offset_x += widget.rect.width + spacing + + if self._alignment & Alignment.TOP: + y = self._rect.y + elif self._alignment & Alignment.BOTTOM: + y = self._rect.y + self._rect.height - widget.rect.height + else: # center + y = self._rect.y + (self._rect.height - widget.rect.height) / 2 + + # Update widget position and render + widget.set_position(round(x), round(y)) + widget.set_parent_rect(self._rect) + widget.render() diff --git a/system/ui/widgets/mici_keyboard.py b/system/ui/widgets/mici_keyboard.py index 6d2e08e05..59a245138 100644 --- a/system/ui/widgets/mici_keyboard.py +++ b/system/ui/widgets/mici_keyboard.py @@ -61,7 +61,7 @@ class Key(Widget): self._x_filter.x = x self._y_filter.x = local_y # keep track of original position so dragging around feels consistent. also move touch area down a bit - self.original_position = rl.Vector2(x, y + KEY_TOUCH_AREA_OFFSET) + self.original_position = rl.Vector2(x, local_y + KEY_TOUCH_AREA_OFFSET) self._position_initialized = True if not smooth: @@ -227,6 +227,8 @@ class MiciKeyboard(Widget): for current_row, row in zip(self._current_keys, keys, strict=False): # not all layouts have the same number of keys for current_key, key in zip_repeat(current_row, row): + # reset parent rect for new keys + key.set_parent_rect(self._rect) current_pos = current_key.get_position() key.set_position(current_pos[0], current_pos[1], smooth=False) @@ -264,7 +266,8 @@ class MiciKeyboard(Widget): for key in row: mouse_pos = gui_app.last_mouse_event.pos # approximate distance for comparison is accurate enough - dist = abs(key.original_position.x - mouse_pos.x) + abs(key.original_position.y - mouse_pos.y) + # use local y coords so parent widget offset (e.g. during NavWidget animate-in) doesn't affect hit testing + dist = abs(key.original_position.x - mouse_pos.x) + abs(key.original_position.y - (mouse_pos.y - self._rect.y)) if dist < closest_key[1]: if self._closest_key[0] is None or key is self._closest_key[0] or dist < self._closest_key[1] - KEY_DRAG_HYSTERESIS: closest_key = (key, dist) diff --git a/system/ui/widgets/nav_widget.py b/system/ui/widgets/nav_widget.py new file mode 100644 index 000000000..2944f47a7 --- /dev/null +++ b/system/ui/widgets/nav_widget.py @@ -0,0 +1,232 @@ +from __future__ import annotations + +import abc +import pyray as rl +from collections.abc import Callable +from openpilot.system.ui.widgets import Widget +from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter +from openpilot.system.ui.lib.application import gui_app, MousePos, MouseEvent + +SWIPE_AWAY_THRESHOLD = 80 # px to dismiss after releasing +START_DISMISSING_THRESHOLD = 40 # px to start dismissing while dragging +BLOCK_SWIPE_AWAY_THRESHOLD = 60 # px horizontal movement to block swipe away + +NAV_BAR_MARGIN = 6 +NAV_BAR_WIDTH = 205 +NAV_BAR_HEIGHT = 8 + +DISMISS_PUSH_OFFSET = 50 + NAV_BAR_MARGIN + NAV_BAR_HEIGHT # px extra to push down when dismissing +DISMISS_TIME_SECONDS = 2.0 + + +class NavBar(Widget): + def __init__(self): + super().__init__() + self.set_rect(rl.Rectangle(0, 0, NAV_BAR_WIDTH, NAV_BAR_HEIGHT)) + self._alpha = 1.0 + self._alpha_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps) + self._fade_time = 0.0 + + def set_alpha(self, alpha: float) -> None: + self._alpha = alpha + self._fade_time = rl.get_time() + + def show_event(self): + super().show_event() + self._alpha = 1.0 + self._alpha_filter.x = 1.0 + self._fade_time = rl.get_time() + + def _render(self, _): + if rl.get_time() - self._fade_time > DISMISS_TIME_SECONDS: + self._alpha = 0.0 + alpha = self._alpha_filter.update(self._alpha) + + # white bar with black border + rl.draw_rectangle_rounded(self._rect, 1.0, 6, rl.Color(255, 255, 255, int(255 * 0.9 * alpha))) + rl.draw_rectangle_rounded_lines_ex(self._rect, 1.0, 6, 2, rl.Color(0, 0, 0, int(255 * 0.3 * alpha))) + + +class NavWidget(Widget, abc.ABC): + """ + A full screen widget that supports back navigation by swiping down from the top. + """ + BACK_TOUCH_AREA_PERCENTAGE = 0.65 + + def __init__(self): + super().__init__() + self._back_callback: Callable[[], None] | None = None + self._back_button_start_pos: MousePos | None = None + self._swiping_away = False # currently swiping away + self._can_swipe_away = True # swipe away is blocked after certain horizontal movement + + self._pos_filter = BounceFilter(0.0, 0.1, 1 / gui_app.target_fps, bounce=1) + self._playing_dismiss_animation = False + self._trigger_animate_in = False + self._nav_bar_show_time = 0.0 + self._back_enabled: bool | Callable[[], bool] = True + self._nav_bar = NavBar() + + self._nav_bar_y_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps) + + self._set_up = False + + @property + def back_enabled(self) -> bool: + return self._back_enabled() if callable(self._back_enabled) else self._back_enabled + + def set_back_enabled(self, enabled: bool | Callable[[], bool]) -> None: + self._back_enabled = enabled + + def set_back_callback(self, callback: Callable[[], None]) -> None: + self._back_callback = callback + + def _handle_mouse_event(self, mouse_event: MouseEvent) -> None: + # FIXME: disabling this widget on new push_widget still causes this widget to track mouse events without mouse down + super()._handle_mouse_event(mouse_event) + + if not self.back_enabled: + self._back_button_start_pos = None + self._swiping_away = False + self._can_swipe_away = True + return + + if mouse_event.left_pressed: + # user is able to swipe away if starting near top of screen, or anywhere if scroller is at top + self._pos_filter.update_alpha(0.04) + in_dismiss_area = mouse_event.pos.y < self._rect.height * self.BACK_TOUCH_AREA_PERCENTAGE + + scroller_at_top = False + vertical_scroller = False + # TODO: -20? snapping in WiFi dialog can make offset not be positive at the top + if hasattr(self, '_scroller'): + scroller_at_top = self._scroller.scroll_panel.get_offset() >= -20 and not self._scroller._horizontal + vertical_scroller = not self._scroller._horizontal + elif hasattr(self, '_scroll_panel'): + scroller_at_top = self._scroll_panel.get_offset() >= -20 and not self._scroll_panel._horizontal + vertical_scroller = not self._scroll_panel._horizontal + + # Vertical scrollers need to be at the top to swipe away to prevent erroneous swipes + if (not vertical_scroller and in_dismiss_area) or scroller_at_top: + self._can_swipe_away = True + self._back_button_start_pos = mouse_event.pos + + elif mouse_event.left_down: + if self._back_button_start_pos is not None: + # block swiping away if too much horizontal or upward movement + horizontal_movement = abs(mouse_event.pos.x - self._back_button_start_pos.x) > BLOCK_SWIPE_AWAY_THRESHOLD + upward_movement = mouse_event.pos.y - self._back_button_start_pos.y < -BLOCK_SWIPE_AWAY_THRESHOLD + if not self._swiping_away and (horizontal_movement or upward_movement): + self._can_swipe_away = False + self._back_button_start_pos = None + + # block horizontal swiping if now swiping away + if self._can_swipe_away: + if mouse_event.pos.y - self._back_button_start_pos.y > START_DISMISSING_THRESHOLD: + self._swiping_away = True + + elif mouse_event.left_released: + self._pos_filter.update_alpha(0.1) + # if far enough, trigger back navigation callback + if self._back_button_start_pos is not None: + if mouse_event.pos.y - self._back_button_start_pos.y > SWIPE_AWAY_THRESHOLD: + self._playing_dismiss_animation = True + + self._back_button_start_pos = None + self._swiping_away = False + + def _update_state(self): + super()._update_state() + + # Disable self's scroller while swiping away + if not self._set_up: + self._set_up = True + if hasattr(self, '_scroller'): + # TODO: use touch_valid + original_enabled = self._scroller._enabled + self._scroller.set_enabled(lambda: self.enabled and not self._swiping_away and (original_enabled() if callable(original_enabled) else + original_enabled)) + elif hasattr(self, '_scroll_panel'): + original_enabled = self._scroll_panel.enabled + self._scroll_panel.set_enabled(lambda: self.enabled and not self._swiping_away and (original_enabled() if callable(original_enabled) else + original_enabled)) + + if self._trigger_animate_in: + self._pos_filter.x = self._rect.height + self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT + self._nav_bar_show_time = rl.get_time() + self._trigger_animate_in = False + + new_y = 0.0 + + if not self.enabled: + self._back_button_start_pos = None + + # TODO: why is this not in handle_mouse_event? have to hack above + if self._back_button_start_pos is not None: + last_mouse_event = gui_app.last_mouse_event + # push entire widget as user drags it away + new_y = max(last_mouse_event.pos.y - self._back_button_start_pos.y, 0) + if new_y < SWIPE_AWAY_THRESHOLD: + new_y /= 2 # resistance until mouse release would dismiss widget + + if self._swiping_away: + self._nav_bar.set_alpha(1.0) + + if self._playing_dismiss_animation: + new_y = self._rect.height + DISMISS_PUSH_OFFSET + + new_y = round(self._pos_filter.update(new_y)) + if abs(new_y) < 1 and self._pos_filter.velocity.x == 0.0: + new_y = self._pos_filter.x = 0.0 + + if new_y > self._rect.height + DISMISS_PUSH_OFFSET - 10: + if self._back_callback is not None: + self._back_callback() + + self._playing_dismiss_animation = False + self._back_button_start_pos = None + self._swiping_away = False + + self.set_position(self._rect.x, new_y) + + def _layout(self): + # Dim whatever is behind this widget, fading with position (runs after _update_state so position is correct) + overlay_alpha = int(200 * max(0.0, min(1.0, 1.0 - self._rect.y / self._rect.height))) if self._rect.height > 0 else 0 + rl.draw_rectangle(0, 0, int(self._rect.width), int(self._rect.height), rl.Color(0, 0, 0, overlay_alpha)) + + bounce_height = 20 + rl.draw_rectangle(int(self._rect.x), int(self._rect.y), int(self._rect.width), int(self._rect.height + bounce_height), rl.BLACK) + + def render(self, rect: rl.Rectangle | None = None) -> bool | int | None: + ret = super().render(rect) + + if self.back_enabled: + bar_x = self._rect.x + (self._rect.width - self._nav_bar.rect.width) / 2 + nav_bar_delayed = rl.get_time() - self._nav_bar_show_time < 0.4 + # User dragging or dismissing, nav bar follows NavWidget + if self._back_button_start_pos is not None or self._playing_dismiss_animation: + self._nav_bar_y_filter.x = NAV_BAR_MARGIN + self._pos_filter.x + # Waiting to show + elif nav_bar_delayed: + self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT + # Animate back to top + else: + self._nav_bar_y_filter.update(NAV_BAR_MARGIN) + + self._nav_bar.set_position(bar_x, round(self._nav_bar_y_filter.x)) + self._nav_bar.render() + + return ret + + def show_event(self): + super().show_event() + # FIXME: we don't know the height of the rect at first show_event since it's before the first render :( + # so we need this hacky bool for now + self._trigger_animate_in = True + self._nav_bar.show_event() + + # Reset state + self._pos_filter.update_alpha(0.1) + self._back_button_start_pos = None + self._swiping_away = False diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index dd0a54064..6427a2f20 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -6,8 +6,8 @@ import pyray as rl from openpilot.system.ui.lib.application import gui_app from openpilot.system.ui.lib.multilang import tr from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel -from openpilot.system.ui.lib.wifi_manager import WifiManager, SecurityType, Network, MeteredType -from openpilot.system.ui.widgets import Widget +from openpilot.system.ui.lib.wifi_manager import WifiManager, SecurityType, Network, MeteredType, normalize_ssid +from openpilot.system.ui.widgets import DialogResult, Widget from openpilot.system.ui.widgets.button import ButtonStyle, Button from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog from openpilot.system.ui.widgets.keyboard import Keyboard @@ -193,8 +193,8 @@ class AdvancedNetworkSettings(Widget): self._wifi_manager.update_gsm_settings(roaming_state, self._params.get("GsmApn") or "", self._params.get_bool("GsmMetered")) def _edit_apn(self): - def update_apn(result): - if result != 1: + def update_apn(result: DialogResult): + if result != DialogResult.CONFIRM: return apn = self._keyboard.text.strip() @@ -209,7 +209,8 @@ class AdvancedNetworkSettings(Widget): self._keyboard.reset(min_text_size=0) self._keyboard.set_title(tr("Enter APN"), tr("leave blank for automatic configuration")) self._keyboard.set_text(current_apn) - gui_app.set_modal_overlay(self._keyboard, update_apn) + self._keyboard.set_callback(update_apn) + gui_app.push_widget(self._keyboard) def _toggle_cellular_metered(self): metered = self._cellular_metered_action.get_state() @@ -222,15 +223,18 @@ class AdvancedNetworkSettings(Widget): self._wifi_manager.set_current_network_metered(metered_type) def _connect_to_hidden_network(self): - def connect_hidden(result): - if result != 1: + def connect_hidden(result: DialogResult): + if result != DialogResult.CONFIRM: return ssid = self._keyboard.text if not ssid: return - def enter_password(result): + def enter_password(result: DialogResult): + if result != DialogResult.CONFIRM: + return + password = self._keyboard.text if password == "": # connect without password @@ -241,15 +245,17 @@ class AdvancedNetworkSettings(Widget): self._keyboard.reset(min_text_size=0) self._keyboard.set_title(tr("Enter password"), tr("for \"{}\"").format(ssid)) - gui_app.set_modal_overlay(self._keyboard, enter_password) + self._keyboard.set_callback(enter_password) + gui_app.push_widget(self._keyboard) self._keyboard.reset(min_text_size=1) self._keyboard.set_title(tr("Enter SSID"), "") - gui_app.set_modal_overlay(self._keyboard, connect_hidden) + self._keyboard.set_callback(connect_hidden) + gui_app.push_widget(self._keyboard) def _edit_tethering_password(self): - def update_password(result): - if result != 1: + def update_password(result: DialogResult): + if result != DialogResult.CONFIRM: return password = self._keyboard.text @@ -259,7 +265,8 @@ class AdvancedNetworkSettings(Widget): self._keyboard.reset(min_text_size=MIN_PASSWORD_LENGTH) self._keyboard.set_title(tr("Enter new tethering password"), "") self._keyboard.set_text(self._wifi_manager.tethering_password) - gui_app.set_modal_overlay(self._keyboard, update_password) + self._keyboard.set_callback(update_password) + gui_app.push_widget(self._keyboard) def _update_state(self): self._wifi_manager.process_callbacks() @@ -317,31 +324,32 @@ class WifiManagerUI(Widget): return if self.state == UIState.NEEDS_AUTH and self._state_network: - self.keyboard.set_title(tr("Wrong password") if self._password_retry else tr("Enter password"), tr("for \"{}\"").format(self._state_network.ssid)) + self.keyboard.set_title(tr("Wrong password") if self._password_retry else tr("Enter password"), + tr("for \"{}\"").format(normalize_ssid(self._state_network.ssid))) self.keyboard.reset(min_text_size=MIN_PASSWORD_LENGTH) - gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(cast(Network, self._state_network), result)) + self.keyboard.set_callback(lambda result: self._on_password_entered(cast(Network, self._state_network), result)) + gui_app.push_widget(self.keyboard) elif self.state == UIState.SHOW_FORGET_CONFIRM and self._state_network: - confirm_dialog = ConfirmDialog("", tr("Forget"), tr("Cancel")) - confirm_dialog.set_text(tr("Forget Wi-Fi Network \"{}\"?").format(self._state_network.ssid)) - confirm_dialog.reset() - gui_app.set_modal_overlay(confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(self._state_network, result)) + confirm_dialog = ConfirmDialog("", tr("Forget"), tr("Cancel"), callback=lambda result: self.on_forgot_confirm_finished(self._state_network, result)) + confirm_dialog.set_text(tr("Forget Wi-Fi Network \"{}\"?").format(normalize_ssid(self._state_network.ssid))) + gui_app.push_widget(confirm_dialog) else: self._draw_network_list(rect) - def _on_password_entered(self, network: Network, result: int): - if result == 1: + def _on_password_entered(self, network: Network, result: DialogResult): + if result == DialogResult.CONFIRM: password = self.keyboard.text self.keyboard.clear() if len(password) >= MIN_PASSWORD_LENGTH: self.connect_to_network(network, password) - elif result == 0: + elif result == DialogResult.CANCEL: self.state = UIState.IDLE - def on_forgot_confirm_finished(self, network, result: int): - if result == 1: + def on_forgot_confirm_finished(self, network, result: DialogResult): + if result == DialogResult.CONFIRM: self.forget_network(network) - elif result == 0: + elif result == DialogResult.CANCEL: self.state = UIState.IDLE def _draw_network_list(self, rect: rl.Rectangle): @@ -389,7 +397,7 @@ class WifiManagerUI(Widget): gui_label(status_text_rect, status_text, font_size=48, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) else: # If the network is saved, show the "Forget" button - if network.is_saved: + if self._wifi_manager.is_connection_saved(network.ssid): forget_btn_rect = rl.Rectangle( security_icon_rect.x - self.btn_width - spacing, rect.y + (ITEM_HEIGHT - 80) / 2, @@ -402,11 +410,11 @@ class WifiManagerUI(Widget): self._draw_signal_strength_icon(signal_icon_rect, network) def _networks_buttons_callback(self, network): - if not network.is_saved and network.security_type != SecurityType.OPEN: + if not self._wifi_manager.is_connection_saved(network.ssid) and network.security_type != SecurityType.OPEN: self.state = UIState.NEEDS_AUTH self._state_network = network self._password_retry = False - elif not network.is_connected: + elif self._wifi_manager.wifi_state.ssid != network.ssid: self.connect_to_network(network) def _forget_networks_buttons_callback(self, network): @@ -416,7 +424,7 @@ class WifiManagerUI(Widget): def _draw_status_icon(self, rect, network: Network): """Draw the status icon based on network's connection state""" icon_file = None - if network.is_connected and self.state != UIState.CONNECTING: + if self._wifi_manager.connected_ssid == network.ssid and self.state != UIState.CONNECTING: icon_file = "icons/checkmark.png" elif network.security_type == SecurityType.UNSUPPORTED: icon_file = "icons/circled_slash.png" @@ -438,7 +446,7 @@ class WifiManagerUI(Widget): def connect_to_network(self, network: Network, password=''): self.state = UIState.CONNECTING self._state_network = network - if network.is_saved and not password: + if self._wifi_manager.is_connection_saved(network.ssid) and not password: self._wifi_manager.activate_connection(network.ssid) else: self._wifi_manager.connect_to_network(network.ssid, password) @@ -451,7 +459,7 @@ class WifiManagerUI(Widget): def _on_network_updated(self, networks: list[Network]): self._networks = networks for n in self._networks: - self._networks_buttons[n.ssid] = Button(n.ssid, partial(self._networks_buttons_callback, n), font_size=55, + self._networks_buttons[n.ssid] = Button(normalize_ssid(n.ssid), partial(self._networks_buttons_callback, n), font_size=55, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, button_style=ButtonStyle.TRANSPARENT_WHITE_TEXT) self._networks_buttons[n.ssid].set_touch_valid_callback(lambda: self.scroll_panel.is_touch_valid()) self._forget_networks_buttons[n.ssid] = Button(tr("Forget"), partial(self._forget_networks_buttons_callback, n), button_style=ButtonStyle.FORGET_WIFI, @@ -469,7 +477,7 @@ class WifiManagerUI(Widget): if self.state == UIState.CONNECTING: self.state = UIState.IDLE - def _on_forgotten(self): + def _on_forgotten(self, _): if self.state == UIState.FORGETTING: self.state = UIState.IDLE @@ -480,10 +488,10 @@ class WifiManagerUI(Widget): def main(): gui_app.init_window("Wi-Fi Manager") - wifi_ui = WifiManagerUI(WifiManager()) + gui_app.push_widget(WifiManagerUI(WifiManager())) for _ in gui_app.render(): - wifi_ui.render(rl.Rectangle(50, 50, gui_app.width - 100, gui_app.height - 100)) + pass gui_app.close() diff --git a/system/ui/widgets/option_dialog.py b/system/ui/widgets/option_dialog.py index 62578d1cf..206400a74 100644 --- a/system/ui/widgets/option_dialog.py +++ b/system/ui/widgets/option_dialog.py @@ -1,5 +1,6 @@ import pyray as rl -from openpilot.system.ui.lib.application import FontWeight +from collections.abc import Callable +from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.multilang import tr from openpilot.system.ui.widgets import Widget, DialogResult from openpilot.system.ui.widgets.button import Button, ButtonStyle @@ -17,13 +18,13 @@ LIST_ITEM_SPACING = 25 class MultiOptionDialog(Widget): - def __init__(self, title, options, current="", option_font_weight=FontWeight.MEDIUM): + def __init__(self, title, options, current="", option_font_weight=FontWeight.MEDIUM, callback: Callable[[DialogResult], None] | None = None): super().__init__() self.title = title self.options = options self.current = current self.selection = current - self._result: DialogResult = DialogResult.NO_ACTION + self._callback = callback # Create scroller with option buttons self.option_buttons = [Button(option, click_callback=lambda opt=option: self._on_option_clicked(opt), @@ -36,7 +37,9 @@ class MultiOptionDialog(Widget): self.select_button = Button(lambda: tr("Select"), click_callback=lambda: self._set_result(DialogResult.CONFIRM), button_style=ButtonStyle.PRIMARY) def _set_result(self, result: DialogResult): - self._result = result + gui_app.pop_widget() + if self._callback: + self._callback(result) def _on_option_clicked(self, option): self.selection = option @@ -74,5 +77,3 @@ class MultiOptionDialog(Widget): select_rect = rl.Rectangle(content_rect.x + button_w + BUTTON_SPACING, button_y, button_w, BUTTON_HEIGHT) self.select_button.set_enabled(self.selection != self.current) self.select_button.render(select_rect) - - return self._result diff --git a/system/ui/widgets/scroller.py b/system/ui/widgets/scroller.py index 03c49fca6..b2aeb5574 100644 --- a/system/ui/widgets/scroller.py +++ b/system/ui/widgets/scroller.py @@ -3,6 +3,7 @@ import numpy as np from collections.abc import Callable from openpilot.common.filter_simple import FirstOrderFilter, BounceFilter +from openpilot.common.swaglog import cloudlog from openpilot.system.ui.lib.application import gui_app from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2, ScrollState from openpilot.system.ui.widgets import Widget @@ -12,26 +13,17 @@ LINE_COLOR = rl.GRAY LINE_PADDING = 40 ANIMATION_SCALE = 0.6 +MOVE_LIFT = 20 +MOVE_OVERLAY_ALPHA = 0.65 +SCROLL_RC = 0.15 + +EDGE_SHADOW_WIDTH = 20 + MIN_ZOOM_ANIMATION_TIME = 0.075 # seconds DO_ZOOM = False DO_JELLO = False -class LineSeparator(Widget): - def __init__(self, height: int = 1): - super().__init__() - self._rect = rl.Rectangle(0, 0, 0, height) - - def set_parent_rect(self, parent_rect: rl.Rectangle) -> None: - super().set_parent_rect(parent_rect) - self._rect.width = parent_rect.width - - def _render(self, _): - rl.draw_line(int(self._rect.x) + LINE_PADDING, int(self._rect.y), - int(self._rect.x + self._rect.width) - LINE_PADDING, int(self._rect.y), - LINE_COLOR) - - class ScrollIndicator(Widget): HORIZONTAL_MARGIN = 4 @@ -75,22 +67,19 @@ class ScrollIndicator(Widget): class Scroller(Widget): - def __init__(self, items: list[Widget], horizontal: bool = True, snap_items: bool = True, spacing: int = ITEM_SPACING, - line_separator: bool = False, pad_start: int = ITEM_SPACING, pad_end: int = ITEM_SPACING, - scroll_indicator: bool = True): + def __init__(self, items: list[Widget], horizontal: bool = True, snap_items: bool = False, spacing: int = ITEM_SPACING, + pad: int = ITEM_SPACING, scroll_indicator: bool = True, edge_shadows: bool = True): super().__init__() self._items: list[Widget] = [] self._horizontal = horizontal self._snap_items = snap_items self._spacing = spacing - self._line_separator = LineSeparator() if line_separator else None - self._pad_start = pad_start - self._pad_end = pad_end + self._pad = pad self._reset_scroll_at_show = True - self._scrolling_to: float | None = None - self._scroll_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps) + self._scrolling_to: tuple[float | None, bool] = (None, False) # target offset, block user scrolling + self._scrolling_to_filter = FirstOrderFilter(0.0, SCROLL_RC, 1 / gui_app.target_fps) self._zoom_filter = FirstOrderFilter(1.0, 0.2, 1 / gui_app.target_fps) self._zoom_out_t: float = 0.0 @@ -107,8 +96,18 @@ class Scroller(Widget): self.scroll_panel = GuiScrollPanel2(self._horizontal, handle_out_of_bounds=not self._snap_items) self._scroll_enabled: bool | Callable[[], bool] = True - self._show_scroll_indicator = scroll_indicator + self._show_scroll_indicator = scroll_indicator and self._horizontal self._scroll_indicator = ScrollIndicator() + self._edge_shadows = edge_shadows and self._horizontal + + # move animation state + # on move; lift src widget -> wait -> move all -> wait -> drop src widget + self._overlay_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps) + self._move_animations: dict[Widget, FirstOrderFilter] = {} + self._move_lift: dict[Widget, FirstOrderFilter] = {} + # these are used to wait before moving/dropping, also to move onto next part of the animation earlier for timing + self._pending_lift: set[Widget] = set() + self._pending_move: set[Widget] = set() for item in items: self.add_widget(item) @@ -116,7 +115,9 @@ class Scroller(Widget): def set_reset_scroll_at_show(self, scroll: bool): self._reset_scroll_at_show = scroll - def scroll_to(self, pos: float, smooth: bool = False): + def scroll_to(self, pos: float, smooth: bool = False, block: bool = False): + assert not block or smooth, "Instant scroll cannot be blocking" + # already there if abs(pos) < 1: return @@ -124,17 +125,31 @@ class Scroller(Widget): # FIXME: the padding correction doesn't seem correct scroll_offset = self.scroll_panel.get_offset() - pos if smooth: - self._scrolling_to = scroll_offset + self._scrolling_to_filter.x = self.scroll_panel.get_offset() + self._scrolling_to = scroll_offset, block else: self.scroll_panel.set_offset(scroll_offset) @property def is_auto_scrolling(self) -> bool: - return self._scrolling_to is not None + return self._scrolling_to[0] is not None + + @property + def items(self) -> list[Widget]: + return self._items + + @property + def content_size(self) -> float: + return self._content_size def add_widget(self, item: Widget) -> None: self._items.append(item) - item.set_touch_valid_callback(lambda: self.scroll_panel.is_touch_valid() and self.enabled) + + # preserve original touch valid callback + original_touch_valid_callback = item._touch_valid_callback + item.set_touch_valid_callback(lambda: self.scroll_panel.is_touch_valid() and self.enabled and self._scrolling_to[0] is None + and not self.moving_items and (original_touch_valid_callback() if + original_touch_valid_callback else True)) def set_scrolling_enabled(self, enabled: bool | Callable[[], bool]) -> None: """Set whether scrolling is enabled (does not affect widget enabled state).""" @@ -142,7 +157,7 @@ class Scroller(Widget): def _update_state(self): if DO_ZOOM: - if self._scrolling_to is not None or self.scroll_panel.state != ScrollState.STEADY: + if self._scrolling_to[0] is not None or self.scroll_panel.state != ScrollState.STEADY: self._zoom_out_t = rl.get_time() + MIN_ZOOM_ANIMATION_TIME self._zoom_filter.update(0.85) else: @@ -152,24 +167,22 @@ class Scroller(Widget): else: self._zoom_filter.update(0.85) - # Cancel auto-scroll if user starts manually scrolling - if self._scrolling_to is not None and (self.scroll_panel.state == ScrollState.PRESSED or self.scroll_panel.state == ScrollState.MANUAL_SCROLL): - self._scrolling_to = None + # Cancel auto-scroll if user starts manually scrolling (unless blocking) + if (self.scroll_panel.state in (ScrollState.PRESSED, ScrollState.MANUAL_SCROLL) and + self._scrolling_to[0] is not None and not self._scrolling_to[1]): + self._scrolling_to = None, False - if self._scrolling_to is not None: - self._scroll_filter.update(self._scrolling_to) - self.scroll_panel.set_offset(self._scroll_filter.x) + if self._scrolling_to[0] is not None and len(self._pending_lift) == 0: + self._scrolling_to_filter.update(self._scrolling_to[0]) + self.scroll_panel.set_offset(self._scrolling_to_filter.x) - if abs(self._scroll_filter.x - self._scrolling_to) < 1: - self.scroll_panel.set_offset(self._scrolling_to) - self._scrolling_to = None - else: - # keep current scroll position up to date - self._scroll_filter.x = self.scroll_panel.get_offset() + if abs(self._scrolling_to_filter.x - self._scrolling_to[0]) < 1: + self.scroll_panel.set_offset(self._scrolling_to[0]) + self._scrolling_to = None, False def _get_scroll(self, visible_items: list[Widget], content_size: float) -> float: scroll_enabled = self._scroll_enabled() if callable(self._scroll_enabled) else self._scroll_enabled - self.scroll_panel.set_enabled(scroll_enabled and self.enabled) + self.scroll_panel.set_enabled(scroll_enabled and self.enabled and not self._scrolling_to[1]) self.scroll_panel.update(self._rect, content_size) if not self._snap_items: return round(self.scroll_panel.get_offset()) @@ -208,29 +221,86 @@ class Scroller(Widget): return self.scroll_panel.get_offset() + @property + def moving_items(self) -> bool: + return len(self._move_animations) > 0 or len(self._move_lift) > 0 + + def move_item(self, from_idx: int, to_idx: int): + assert self._horizontal + if from_idx == to_idx: + return + + if self.moving_items: + cloudlog.warning(f"Already moving items, cannot move from {from_idx} to {to_idx}") + return + + item = self._items.pop(from_idx) + self._items.insert(to_idx, item) + + # store original position in content space of all affected widgets to animate from + for idx in range(min(from_idx, to_idx), max(from_idx, to_idx) + 1): + affected_item = self._items[idx] + self._move_animations[affected_item] = FirstOrderFilter(affected_item.rect.x - self._scroll_offset, SCROLL_RC, 1 / gui_app.target_fps) + self._pending_move.add(affected_item) + + # lift only src widget to make it more clear which one is moving + self._move_lift[item] = FirstOrderFilter(0.0, SCROLL_RC, 1 / gui_app.target_fps) + self._pending_lift.add(item) + + def _do_move_animation(self, item: Widget, target_x: float, target_y: float) -> tuple[float, float]: + # wait a frame before moving so we match potential pending scroll animation + can_start_move = len(self._pending_lift) == 0 + + if item in self._move_lift: + lift_filter = self._move_lift[item] + + # Animate lift + if len(self._pending_move) > 0: + lift_filter.update(MOVE_LIFT) + # start moving when almost lifted + if abs(lift_filter.x - MOVE_LIFT) < 2: + self._pending_lift.discard(item) + else: + # if done moving, animate down + lift_filter.update(0) + if abs(lift_filter.x) < 1: + del self._move_lift[item] + target_y -= lift_filter.x + + # Animate move + if item in self._move_animations: + move_filter = self._move_animations[item] + + # compare/update in content space to match filter + content_x = target_x - self._scroll_offset + if can_start_move: + move_filter.update(content_x) + + # drop when close to target + if abs(move_filter.x - content_x) < 10: + self._pending_move.discard(item) + + # finished moving + if abs(move_filter.x - content_x) < 1: + del self._move_animations[item] + target_x = move_filter.x + self._scroll_offset + + return target_x, target_y + def _layout(self): self._visible_items = [item for item in self._items if item.is_visible] - # Add line separator between items - if self._line_separator is not None: - l = len(self._visible_items) - for i in range(1, len(self._visible_items)): - self._visible_items.insert(l - i, self._line_separator) - self._content_size = sum(item.rect.width if self._horizontal else item.rect.height for item in self._visible_items) self._content_size += self._spacing * (len(self._visible_items) - 1) - self._content_size += self._pad_start + self._pad_end + self._content_size += self._pad * 2 self._scroll_offset = self._get_scroll(self._visible_items, self._content_size) - rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y), - int(self._rect.width), int(self._rect.height)) - self._item_pos_filter.update(self._scroll_offset) cur_pos = 0 for idx, item in enumerate(self._visible_items): - spacing = self._spacing if (idx > 0) else self._pad_start + spacing = self._spacing if (idx > 0) else self._pad # Nicely lay out items horizontally/vertically if self._horizontal: x = self._rect.x + cur_pos + spacing @@ -262,42 +332,80 @@ class Scroller(Widget): [self._item_pos_filter.x, self._scroll_offset, self._item_pos_filter.x]) y -= np.clip(jello_offset, -20, 20) + # Animate moves if needed + x, y = self._do_move_animation(item, x, y) + # Update item state item.set_position(round(x), round(y)) # round to prevent jumping when settling item.set_parent_rect(self._rect) - def _render(self, _): - for item in self._visible_items: - # Skip rendering if not in viewport - if not rl.check_collision_recs(item.rect, self._rect): - continue + def _render_item(self, item: Widget): + # Skip rendering if not in viewport + if not rl.check_collision_recs(item.rect, self._rect): + return - # Scale each element around its own origin when scrolling - scale = self._zoom_filter.x - if scale != 1.0: - rl.rl_push_matrix() - rl.rl_scalef(scale, scale, 1.0) - rl.rl_translatef((1 - scale) * (item.rect.x + item.rect.width / 2) / scale, - (1 - scale) * (item.rect.y + item.rect.height / 2) / scale, 0) - item.render() - rl.rl_pop_matrix() - else: - item.render() + # Scale each element around its own origin when scrolling + scale = self._zoom_filter.x + if scale != 1.0: + rl.rl_push_matrix() + rl.rl_scalef(scale, scale, 1.0) + rl.rl_translatef((1 - scale) * (item.rect.x + item.rect.width / 2) / scale, + (1 - scale) * (item.rect.y + item.rect.height / 2) / scale, 0) + item.render() + rl.rl_pop_matrix() + else: + item.render() + + def _render(self, _): + rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y), + int(self._rect.width), int(self._rect.height)) + + for item in reversed(self._visible_items): + if item in self._move_lift: + continue + self._render_item(item) + + # Dim background if moving items, lifted items are above + self._overlay_filter.update(MOVE_OVERLAY_ALPHA if len(self._pending_move) else 0.0) + if self._overlay_filter.x > 0.01: + rl.draw_rectangle_rec(self._rect, rl.Color(0, 0, 0, int(255 * self._overlay_filter.x))) + + for item in self._move_lift: + self._render_item(item) rl.end_scissor_mode() - # Draw scroll indicator - if self._show_scroll_indicator and self._horizontal and len(self._visible_items) > 0: + # Draw edge shadows on top of scroller content + if self._edge_shadows: + rl.draw_rectangle_gradient_h(int(self._rect.x), int(self._rect.y), + EDGE_SHADOW_WIDTH, int(self._rect.height), + rl.Color(0, 0, 0, 204), rl.BLANK) + + right_x = int(self._rect.x + self._rect.width - EDGE_SHADOW_WIDTH) + rl.draw_rectangle_gradient_h(right_x, int(self._rect.y), + EDGE_SHADOW_WIDTH, int(self._rect.height), + rl.BLANK, rl.Color(0, 0, 0, 204)) + + # Draw scroll indicator on top of edge shadows + if self._show_scroll_indicator and len(self._visible_items) > 0: self._scroll_indicator.update(self._scroll_offset, self._content_size, self._rect) self._scroll_indicator.render() def show_event(self): super().show_event() + for item in self._items: + item.show_event() + if self._reset_scroll_at_show: self.scroll_panel.set_offset(0.0) - for item in self._items: - item.show_event() + self._overlay_filter.x = 0.0 + self._move_animations.clear() + self._move_lift.clear() + self._pending_lift.clear() + self._pending_move.clear() + self._scrolling_to = None, False + self._scrolling_to_filter.x = 0.0 def hide_event(self): super().hide_event() diff --git a/system/ui/widgets/slider.py b/system/ui/widgets/slider.py index 455cdeef7..8f4bbfc01 100644 --- a/system/ui/widgets/slider.py +++ b/system/ui/widgets/slider.py @@ -33,7 +33,7 @@ class SmallSlider(Widget): self._is_dragging_circle = False - self._label = UnifiedLabel(title, font_size=36, font_weight=FontWeight.MEDIUM, text_color=rl.Color(255, 255, 255, int(255 * 0.65)), + self._label = UnifiedLabel(title, font_size=36, font_weight=FontWeight.SEMI_BOLD, text_color=rl.Color(255, 255, 255, int(255 * 0.65)), alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, line_height=0.9) @@ -42,6 +42,7 @@ class SmallSlider(Widget): self._bg_txt = gui_app.texture("icons_mici/setup/small_slider/slider_bg.png", 316, 100) self._circle_bg_txt = gui_app.texture("icons_mici/setup/small_slider/slider_red_circle.png", 100, 100) + self._circle_bg_pressed_txt = gui_app.texture("icons_mici/setup/small_slider/slider_red_circle_pressed.png", 100, 100) self._circle_arrow_txt = gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 37, 32) @property @@ -107,8 +108,8 @@ class SmallSlider(Widget): # activate once animation completes, small threshold for small floats if self._scroll_x_circle_filter.x < (activated_pos + 1): if not self._confirm_callback_called and (rl.get_time() - self._confirmed_time) >= self.CONFIRM_DELAY: - self._on_confirm() self._confirm_callback_called = True + self._on_confirm() elif not self._is_dragging_circle: # reset back to right @@ -140,7 +141,8 @@ class SmallSlider(Widget): self._label.render(label_rect) # circle and arrow - rl.draw_texture_ex(self._circle_bg_txt, rl.Vector2(btn_x, btn_y), 0.0, 1.0, white) + circle_bg_txt = self._circle_bg_pressed_txt if self._is_dragging_circle or self._confirmed_time > 0 else self._circle_bg_txt + rl.draw_texture_ex(circle_bg_txt, rl.Vector2(btn_x, btn_y), 0.0, 1.0, white) arrow_x = btn_x + (self._circle_bg_txt.width - self._circle_arrow_txt.width) / 2 arrow_y = btn_y + (self._circle_bg_txt.height - self._circle_arrow_txt.height) / 2 @@ -158,6 +160,7 @@ class LargerSlider(SmallSlider): self._bg_txt = gui_app.texture("icons_mici/setup/small_slider/slider_bg_larger.png", 520, 115) circle_fn = "slider_green_rounded_rectangle" if self._green else "slider_black_rounded_rectangle" self._circle_bg_txt = gui_app.texture(f"icons_mici/setup/small_slider/{circle_fn}.png", 180, 115) + self._circle_bg_pressed_txt = gui_app.texture(f"icons_mici/setup/small_slider/{circle_fn}_pressed.png", 180, 115) self._circle_arrow_txt = gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 64, 55) @@ -174,6 +177,7 @@ class BigSlider(SmallSlider): self._bg_txt = gui_app.texture("icons_mici/buttons/slider_bg.png", 520, 180) self._circle_bg_txt = gui_app.texture("icons_mici/buttons/button_circle.png", 180, 180) + self._circle_bg_pressed_txt = gui_app.texture("icons_mici/buttons/button_circle_pressed.png", 180, 180) self._circle_arrow_txt = self._icon @@ -183,4 +187,5 @@ class RedBigSlider(BigSlider): self._bg_txt = gui_app.texture("icons_mici/buttons/slider_bg.png", 520, 180) self._circle_bg_txt = gui_app.texture("icons_mici/buttons/button_circle_red.png", 180, 180) + self._circle_bg_pressed_txt = gui_app.texture("icons_mici/buttons/button_circle_red_pressed.png", 180, 180) self._circle_arrow_txt = self._icon diff --git a/system/webrtc/device/audio.py b/system/webrtc/device/audio.py deleted file mode 100644 index b1859518a..000000000 --- a/system/webrtc/device/audio.py +++ /dev/null @@ -1,109 +0,0 @@ -import asyncio -import io - -import aiortc -import av -import numpy as np -import pyaudio - - -class AudioInputStreamTrack(aiortc.mediastreams.AudioStreamTrack): - PYAUDIO_TO_AV_FORMAT_MAP = { - pyaudio.paUInt8: 'u8', - pyaudio.paInt16: 's16', - pyaudio.paInt24: 's24', - pyaudio.paInt32: 's32', - pyaudio.paFloat32: 'flt', - } - - def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 16000, channels: int = 1, packet_time: float = 0.020, device_index: int | None = None): - super().__init__() - - self.p = pyaudio.PyAudio() - chunk_size = int(packet_time * rate) - self.stream = self.p.open(format=audio_format, - channels=channels, - rate=rate, - frames_per_buffer=chunk_size, - input=True, - input_device_index=device_index) - self.format = audio_format - self.rate = rate - self.channels = channels - self.packet_time = packet_time - self.chunk_size = chunk_size - self.pts = 0 - - async def recv(self): - mic_data = self.stream.read(self.chunk_size) - mic_array = np.frombuffer(mic_data, dtype=np.int16) - mic_array = np.expand_dims(mic_array, axis=0) - layout = 'stereo' if self.channels > 1 else 'mono' - frame = av.AudioFrame.from_ndarray(mic_array, format=self.PYAUDIO_TO_AV_FORMAT_MAP[self.format], layout=layout) - frame.rate = self.rate - frame.pts = self.pts - self.pts += frame.samples - - return frame - - -class AudioOutputSpeaker: - def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 48000, channels: int = 2, packet_time: float = 0.2, device_index: int | None = None): - - chunk_size = int(packet_time * rate) - self.p = pyaudio.PyAudio() - self.buffer = io.BytesIO() - self.channels = channels - self.stream = self.p.open(format=audio_format, - channels=channels, - rate=rate, - frames_per_buffer=chunk_size, - output=True, - output_device_index=device_index, - stream_callback=self.__pyaudio_callback) - self.tracks_and_tasks: list[tuple[aiortc.MediaStreamTrack, asyncio.Task | None]] = [] - - def __pyaudio_callback(self, in_data, frame_count, time_info, status): - if self.buffer.getbuffer().nbytes < frame_count * self.channels * 2: - buff = b'\x00\x00' * frame_count * self.channels - elif self.buffer.getbuffer().nbytes > 115200: # 3x the usual read size - self.buffer.seek(0) - buff = self.buffer.read(frame_count * self.channels * 4) - buff = buff[:frame_count * self.channels * 2] - self.buffer.seek(2) - else: - self.buffer.seek(0) - buff = self.buffer.read(frame_count * self.channels * 2) - self.buffer.seek(2) - return (buff, pyaudio.paContinue) - - async def __consume(self, track): - while True: - try: - frame = await track.recv() - except aiortc.MediaStreamError: - return - - self.buffer.write(bytes(frame.planes[0])) - - def hasTrack(self, track: aiortc.MediaStreamTrack) -> bool: - return any(t == track for t, _ in self.tracks_and_tasks) - - def addTrack(self, track: aiortc.MediaStreamTrack): - if not self.hasTrack(track): - self.tracks_and_tasks.append((track, None)) - - def start(self): - for index, (track, task) in enumerate(self.tracks_and_tasks): - if task is None: - self.tracks_and_tasks[index] = (track, asyncio.create_task(self.__consume(track))) - - def stop(self): - for _, task in self.tracks_and_tasks: - if task is not None: - task.cancel() - - self.tracks_and_tasks = [] - self.stream.stop_stream() - self.stream.close() - self.p.terminate() diff --git a/system/webrtc/tests/test_stream_session.py b/system/webrtc/tests/test_stream_session.py index e31fda372..f44d217d5 100644 --- a/system/webrtc/tests/test_stream_session.py +++ b/system/webrtc/tests/test_stream_session.py @@ -9,12 +9,10 @@ warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this w from aiortc import RTCDataChannel from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE import capnp -import pyaudio from cereal import messaging, log from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack -from openpilot.system.webrtc.device.audio import AudioInputStreamTrack class TestStreamSession: @@ -87,18 +85,3 @@ class TestStreamSession: assert abs(i + packet.pts - (start_pts + (((time.monotonic_ns() - start_ns) * VIDEO_CLOCK_RATE) // 1_000_000_000))) < 450 #5ms assert packet.size == 0 - def test_input_audio_track(self, mocker): - packet_time, rate = 0.02, 16000 - sample_count = int(packet_time * rate) - mocked_stream = mocker.MagicMock(spec=pyaudio.Stream) - mocked_stream.read.return_value = b"\x00" * 2 * sample_count - - config = {"open.side_effect": lambda *args, **kwargs: mocked_stream} - mocker.patch("pyaudio.PyAudio", spec=True, **config) - track = AudioInputStreamTrack(audio_format=pyaudio.paInt16, packet_time=packet_time, rate=rate) - - for i in range(5): - frame = self.loop.run_until_complete(track.recv()) - assert frame.rate == rate - assert frame.samples == sample_count - assert frame.pts == i * sample_count diff --git a/system/webrtc/tests/test_webrtcd.py b/system/webrtc/tests/test_webrtcd.py deleted file mode 100644 index 4fa6d8953..000000000 --- a/system/webrtc/tests/test_webrtcd.py +++ /dev/null @@ -1,65 +0,0 @@ -import pytest -import asyncio -import json -# for aiortc and its dependencies -import warnings -warnings.filterwarnings("ignore", category=DeprecationWarning) -warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel - -from openpilot.system.webrtc.webrtcd import get_stream - -import aiortc -from teleoprtc import WebRTCOfferBuilder -from parameterized import parameterized_class - - -@parameterized_class(("in_services", "out_services"), [ - (["testJoystick"], ["carState"]), - ([], ["carState"]), - (["testJoystick"], []), - ([], []), -]) -@pytest.mark.asyncio -class TestWebrtcdProc: - async def assertCompletesWithTimeout(self, awaitable, timeout=1): - try: - async with asyncio.timeout(timeout): - await awaitable - except TimeoutError: - pytest.fail("Timeout while waiting for awaitable to complete") - - async def test_webrtcd(self, mocker): - mock_request = mocker.MagicMock() - async def connect(offer): - body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': self.in_services, 'bridge_services_out': self.out_services} - mock_request.json.side_effect = mocker.AsyncMock(return_value=body) - response = await get_stream(mock_request) - response_json = json.loads(response.text) - return aiortc.RTCSessionDescription(**response_json) - - builder = WebRTCOfferBuilder(connect) - builder.offer_to_receive_video_stream("road") - builder.offer_to_receive_audio_stream() - if len(self.in_services) > 0 or len(self.out_services) > 0: - builder.add_messaging() - - stream = builder.stream() - - await self.assertCompletesWithTimeout(stream.start()) - await self.assertCompletesWithTimeout(stream.wait_for_connection()) - - assert stream.has_incoming_video_track("road") - assert stream.has_incoming_audio_track() - assert stream.has_messaging_channel() == (len(self.in_services) > 0 or len(self.out_services) > 0) - - video_track, audio_track = stream.get_incoming_video_track("road"), stream.get_incoming_audio_track() - await self.assertCompletesWithTimeout(video_track.recv()) - await self.assertCompletesWithTimeout(audio_track.recv()) - - await self.assertCompletesWithTimeout(stream.stop()) - - # cleanup, very implementation specific, test may break if it changes - assert mock_request.app["streams"].__setitem__.called, "Implementation changed, please update this test" - _, session = mock_request.app["streams"].__setitem__.call_args.args - await self.assertCompletesWithTimeout(session.post_run_cleanup()) - diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py index c19f1bf9d..d2c90cafb 100755 --- a/system/webrtc/webrtcd.py +++ b/system/webrtc/webrtcd.py @@ -119,10 +119,8 @@ class StreamSession: shared_pub_master = DynamicPubMaster([]) def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], outgoing_services: list[str], debug_mode: bool = False): - from aiortc.mediastreams import VideoStreamTrack, AudioStreamTrack - from aiortc.contrib.media import MediaBlackhole + from aiortc.mediastreams import VideoStreamTrack from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack - from openpilot.system.webrtc.device.audio import AudioInputStreamTrack, AudioOutputSpeaker from teleoprtc import WebRTCAnswerBuilder from teleoprtc.info import parse_info_from_offer @@ -132,11 +130,6 @@ class StreamSession: assert len(cameras) == config.n_expected_camera_tracks, "Incoming stream has misconfigured number of video tracks" for cam in cameras: builder.add_video_stream(cam, LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack()) - if config.expected_audio_track: - builder.add_audio_stream(AudioInputStreamTrack() if not debug_mode else AudioStreamTrack()) - if config.incoming_audio_track: - self.audio_output_cls = AudioOutputSpeaker if not debug_mode else MediaBlackhole - builder.offer_to_receive_audio_stream() self.stream = builder.stream() self.identifier = str(uuid.uuid4()) @@ -151,11 +144,10 @@ class StreamSession: self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services)) self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge) - self.audio_output: AudioOutputSpeaker | MediaBlackhole | None = None self.run_task: asyncio.Task | None = None self.logger = logging.getLogger("webrtcd") - self.logger.info("New stream session (%s), cameras %s, audio in %s out %s, incoming services %s, outgoing services %s", - self.identifier, cameras, config.incoming_audio_track, config.expected_audio_track, incoming_services, outgoing_services) + self.logger.info("New stream session (%s), cameras %s, incoming services %s, outgoing services %s", + self.identifier, cameras, incoming_services, outgoing_services) def start(self): self.run_task = asyncio.create_task(self.run()) @@ -188,11 +180,6 @@ class StreamSession: channel = self.stream.get_messaging_channel() self.outgoing_bridge_runner.proxy.add_channel(channel) self.outgoing_bridge_runner.start() - if self.stream.has_incoming_audio_track(): - track = self.stream.get_incoming_audio_track(buffered=False) - self.audio_output = self.audio_output_cls() - self.audio_output.addTrack(track) - self.audio_output.start() self.logger.info("Stream session (%s) connected", self.identifier) await self.stream.wait_for_disconnection() @@ -206,8 +193,6 @@ class StreamSession: await self.stream.stop() if self.outgoing_bridge is not None: self.outgoing_bridge_runner.stop() - if self.audio_output: - self.audio_output.stop() @dataclass diff --git a/third_party/acados/build.sh b/third_party/acados/build.sh index 2c4d839ae..95b3913c4 100755 --- a/third_party/acados/build.sh +++ b/third_party/acados/build.sh @@ -16,7 +16,7 @@ fi ACADOS_FLAGS="-DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET" if [[ "$OSTYPE" == "darwin"* ]]; then - ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64;x86_64 -DCMAKE_MACOSX_RPATH=1" + ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_MACOSX_RPATH=1" ARCHNAME="Darwin" fi @@ -57,8 +57,7 @@ fi cd $DIR/acados_repo/interfaces/acados_template/tera_renderer/ if [[ "$OSTYPE" == "darwin"* ]]; then cargo build --verbose --release --target aarch64-apple-darwin - cargo build --verbose --release --target x86_64-apple-darwin - lipo -create -output target/release/t_renderer target/x86_64-apple-darwin/release/t_renderer target/aarch64-apple-darwin/release/t_renderer + cp target/aarch64-apple-darwin/release/t_renderer target/release/t_renderer else cargo build --verbose --release fi diff --git a/third_party/libyuv/build.sh b/third_party/libyuv/build.sh index 35a7d947a..11f88ab46 100755 --- a/third_party/libyuv/build.sh +++ b/third_party/libyuv/build.sh @@ -35,8 +35,3 @@ rm -rf $DIR/include mkdir -p $INSTALL_DIR/lib cp $DIR/libyuv/libyuv.a $INSTALL_DIR/lib cp -r $DIR/libyuv/include $DIR - -## To create universal binary on Darwin: -## ``` -## lipo -create -output Darwin/libyuv.a path-to-x64/libyuv.a path-to-arm64/libyuv.a -## ``` diff --git a/third_party/opencl/include/CL/cl.h b/third_party/opencl/include/CL/cl.h deleted file mode 100644 index 0086319f5..000000000 --- a/third_party/opencl/include/CL/cl.h +++ /dev/null @@ -1,1452 +0,0 @@ -/******************************************************************************* - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - ******************************************************************************/ - -#ifndef __OPENCL_CL_H -#define __OPENCL_CL_H - -#ifdef __APPLE__ -#include -#else -#include -#endif - -#ifdef __cplusplus -extern "C" { -#endif - -/******************************************************************************/ - -typedef struct _cl_platform_id * cl_platform_id; -typedef struct _cl_device_id * cl_device_id; -typedef struct _cl_context * cl_context; -typedef struct _cl_command_queue * cl_command_queue; -typedef struct _cl_mem * cl_mem; -typedef struct _cl_program * cl_program; -typedef struct _cl_kernel * cl_kernel; -typedef struct _cl_event * cl_event; -typedef struct _cl_sampler * cl_sampler; - -typedef cl_uint cl_bool; /* WARNING! Unlike cl_ types in cl_platform.h, cl_bool is not guaranteed to be the same size as the bool in kernels. */ -typedef cl_ulong cl_bitfield; -typedef cl_bitfield cl_device_type; -typedef cl_uint cl_platform_info; -typedef cl_uint cl_device_info; -typedef cl_bitfield cl_device_fp_config; -typedef cl_uint cl_device_mem_cache_type; -typedef cl_uint cl_device_local_mem_type; -typedef cl_bitfield cl_device_exec_capabilities; -typedef cl_bitfield cl_device_svm_capabilities; -typedef cl_bitfield cl_command_queue_properties; -typedef intptr_t cl_device_partition_property; -typedef cl_bitfield cl_device_affinity_domain; - -typedef intptr_t cl_context_properties; -typedef cl_uint cl_context_info; -typedef cl_bitfield cl_queue_properties; -typedef cl_uint cl_command_queue_info; -typedef cl_uint cl_channel_order; -typedef cl_uint cl_channel_type; -typedef cl_bitfield cl_mem_flags; -typedef cl_bitfield cl_svm_mem_flags; -typedef cl_uint cl_mem_object_type; -typedef cl_uint cl_mem_info; -typedef cl_bitfield cl_mem_migration_flags; -typedef cl_uint cl_image_info; -typedef cl_uint cl_buffer_create_type; -typedef cl_uint cl_addressing_mode; -typedef cl_uint cl_filter_mode; -typedef cl_uint cl_sampler_info; -typedef cl_bitfield cl_map_flags; -typedef intptr_t cl_pipe_properties; -typedef cl_uint cl_pipe_info; -typedef cl_uint cl_program_info; -typedef cl_uint cl_program_build_info; -typedef cl_uint cl_program_binary_type; -typedef cl_int cl_build_status; -typedef cl_uint cl_kernel_info; -typedef cl_uint cl_kernel_arg_info; -typedef cl_uint cl_kernel_arg_address_qualifier; -typedef cl_uint cl_kernel_arg_access_qualifier; -typedef cl_bitfield cl_kernel_arg_type_qualifier; -typedef cl_uint cl_kernel_work_group_info; -typedef cl_uint cl_kernel_sub_group_info; -typedef cl_uint cl_event_info; -typedef cl_uint cl_command_type; -typedef cl_uint cl_profiling_info; -typedef cl_bitfield cl_sampler_properties; -typedef cl_uint cl_kernel_exec_info; - -typedef struct _cl_image_format { - cl_channel_order image_channel_order; - cl_channel_type image_channel_data_type; -} cl_image_format; - -typedef struct _cl_image_desc { - cl_mem_object_type image_type; - size_t image_width; - size_t image_height; - size_t image_depth; - size_t image_array_size; - size_t image_row_pitch; - size_t image_slice_pitch; - cl_uint num_mip_levels; - cl_uint num_samples; -#ifdef __GNUC__ - __extension__ /* Prevents warnings about anonymous union in -pedantic builds */ -#endif - union { - cl_mem buffer; - cl_mem mem_object; - }; -} cl_image_desc; - -typedef struct _cl_buffer_region { - size_t origin; - size_t size; -} cl_buffer_region; - - -/******************************************************************************/ - -/* Error Codes */ -#define CL_SUCCESS 0 -#define CL_DEVICE_NOT_FOUND -1 -#define CL_DEVICE_NOT_AVAILABLE -2 -#define CL_COMPILER_NOT_AVAILABLE -3 -#define CL_MEM_OBJECT_ALLOCATION_FAILURE -4 -#define CL_OUT_OF_RESOURCES -5 -#define CL_OUT_OF_HOST_MEMORY -6 -#define CL_PROFILING_INFO_NOT_AVAILABLE -7 -#define CL_MEM_COPY_OVERLAP -8 -#define CL_IMAGE_FORMAT_MISMATCH -9 -#define CL_IMAGE_FORMAT_NOT_SUPPORTED -10 -#define CL_BUILD_PROGRAM_FAILURE -11 -#define CL_MAP_FAILURE -12 -#define CL_MISALIGNED_SUB_BUFFER_OFFSET -13 -#define CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST -14 -#define CL_COMPILE_PROGRAM_FAILURE -15 -#define CL_LINKER_NOT_AVAILABLE -16 -#define CL_LINK_PROGRAM_FAILURE -17 -#define CL_DEVICE_PARTITION_FAILED -18 -#define CL_KERNEL_ARG_INFO_NOT_AVAILABLE -19 - -#define CL_INVALID_VALUE -30 -#define CL_INVALID_DEVICE_TYPE -31 -#define CL_INVALID_PLATFORM -32 -#define CL_INVALID_DEVICE -33 -#define CL_INVALID_CONTEXT -34 -#define CL_INVALID_QUEUE_PROPERTIES -35 -#define CL_INVALID_COMMAND_QUEUE -36 -#define CL_INVALID_HOST_PTR -37 -#define CL_INVALID_MEM_OBJECT -38 -#define CL_INVALID_IMAGE_FORMAT_DESCRIPTOR -39 -#define CL_INVALID_IMAGE_SIZE -40 -#define CL_INVALID_SAMPLER -41 -#define CL_INVALID_BINARY -42 -#define CL_INVALID_BUILD_OPTIONS -43 -#define CL_INVALID_PROGRAM -44 -#define CL_INVALID_PROGRAM_EXECUTABLE -45 -#define CL_INVALID_KERNEL_NAME -46 -#define CL_INVALID_KERNEL_DEFINITION -47 -#define CL_INVALID_KERNEL -48 -#define CL_INVALID_ARG_INDEX -49 -#define CL_INVALID_ARG_VALUE -50 -#define CL_INVALID_ARG_SIZE -51 -#define CL_INVALID_KERNEL_ARGS -52 -#define CL_INVALID_WORK_DIMENSION -53 -#define CL_INVALID_WORK_GROUP_SIZE -54 -#define CL_INVALID_WORK_ITEM_SIZE -55 -#define CL_INVALID_GLOBAL_OFFSET -56 -#define CL_INVALID_EVENT_WAIT_LIST -57 -#define CL_INVALID_EVENT -58 -#define CL_INVALID_OPERATION -59 -#define CL_INVALID_GL_OBJECT -60 -#define CL_INVALID_BUFFER_SIZE -61 -#define CL_INVALID_MIP_LEVEL -62 -#define CL_INVALID_GLOBAL_WORK_SIZE -63 -#define CL_INVALID_PROPERTY -64 -#define CL_INVALID_IMAGE_DESCRIPTOR -65 -#define CL_INVALID_COMPILER_OPTIONS -66 -#define CL_INVALID_LINKER_OPTIONS -67 -#define CL_INVALID_DEVICE_PARTITION_COUNT -68 -#define CL_INVALID_PIPE_SIZE -69 -#define CL_INVALID_DEVICE_QUEUE -70 - -/* OpenCL Version */ -#define CL_VERSION_1_0 1 -#define CL_VERSION_1_1 1 -#define CL_VERSION_1_2 1 -#define CL_VERSION_2_0 1 -#define CL_VERSION_2_1 1 - -/* cl_bool */ -#define CL_FALSE 0 -#define CL_TRUE 1 -#define CL_BLOCKING CL_TRUE -#define CL_NON_BLOCKING CL_FALSE - -/* cl_platform_info */ -#define CL_PLATFORM_PROFILE 0x0900 -#define CL_PLATFORM_VERSION 0x0901 -#define CL_PLATFORM_NAME 0x0902 -#define CL_PLATFORM_VENDOR 0x0903 -#define CL_PLATFORM_EXTENSIONS 0x0904 -#define CL_PLATFORM_HOST_TIMER_RESOLUTION 0x0905 - -/* cl_device_type - bitfield */ -#define CL_DEVICE_TYPE_DEFAULT (1 << 0) -#define CL_DEVICE_TYPE_CPU (1 << 1) -#define CL_DEVICE_TYPE_GPU (1 << 2) -#define CL_DEVICE_TYPE_ACCELERATOR (1 << 3) -#define CL_DEVICE_TYPE_CUSTOM (1 << 4) -#define CL_DEVICE_TYPE_ALL 0xFFFFFFFF - -/* cl_device_info */ -#define CL_DEVICE_TYPE 0x1000 -#define CL_DEVICE_VENDOR_ID 0x1001 -#define CL_DEVICE_MAX_COMPUTE_UNITS 0x1002 -#define CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS 0x1003 -#define CL_DEVICE_MAX_WORK_GROUP_SIZE 0x1004 -#define CL_DEVICE_MAX_WORK_ITEM_SIZES 0x1005 -#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_CHAR 0x1006 -#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_SHORT 0x1007 -#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_INT 0x1008 -#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_LONG 0x1009 -#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_FLOAT 0x100A -#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_DOUBLE 0x100B -#define CL_DEVICE_MAX_CLOCK_FREQUENCY 0x100C -#define CL_DEVICE_ADDRESS_BITS 0x100D -#define CL_DEVICE_MAX_READ_IMAGE_ARGS 0x100E -#define CL_DEVICE_MAX_WRITE_IMAGE_ARGS 0x100F -#define CL_DEVICE_MAX_MEM_ALLOC_SIZE 0x1010 -#define CL_DEVICE_IMAGE2D_MAX_WIDTH 0x1011 -#define CL_DEVICE_IMAGE2D_MAX_HEIGHT 0x1012 -#define CL_DEVICE_IMAGE3D_MAX_WIDTH 0x1013 -#define CL_DEVICE_IMAGE3D_MAX_HEIGHT 0x1014 -#define CL_DEVICE_IMAGE3D_MAX_DEPTH 0x1015 -#define CL_DEVICE_IMAGE_SUPPORT 0x1016 -#define CL_DEVICE_MAX_PARAMETER_SIZE 0x1017 -#define CL_DEVICE_MAX_SAMPLERS 0x1018 -#define CL_DEVICE_MEM_BASE_ADDR_ALIGN 0x1019 -#define CL_DEVICE_MIN_DATA_TYPE_ALIGN_SIZE 0x101A -#define CL_DEVICE_SINGLE_FP_CONFIG 0x101B -#define CL_DEVICE_GLOBAL_MEM_CACHE_TYPE 0x101C -#define CL_DEVICE_GLOBAL_MEM_CACHELINE_SIZE 0x101D -#define CL_DEVICE_GLOBAL_MEM_CACHE_SIZE 0x101E -#define CL_DEVICE_GLOBAL_MEM_SIZE 0x101F -#define CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE 0x1020 -#define CL_DEVICE_MAX_CONSTANT_ARGS 0x1021 -#define CL_DEVICE_LOCAL_MEM_TYPE 0x1022 -#define CL_DEVICE_LOCAL_MEM_SIZE 0x1023 -#define CL_DEVICE_ERROR_CORRECTION_SUPPORT 0x1024 -#define CL_DEVICE_PROFILING_TIMER_RESOLUTION 0x1025 -#define CL_DEVICE_ENDIAN_LITTLE 0x1026 -#define CL_DEVICE_AVAILABLE 0x1027 -#define CL_DEVICE_COMPILER_AVAILABLE 0x1028 -#define CL_DEVICE_EXECUTION_CAPABILITIES 0x1029 -#define CL_DEVICE_QUEUE_PROPERTIES 0x102A /* deprecated */ -#define CL_DEVICE_QUEUE_ON_HOST_PROPERTIES 0x102A -#define CL_DEVICE_NAME 0x102B -#define CL_DEVICE_VENDOR 0x102C -#define CL_DRIVER_VERSION 0x102D -#define CL_DEVICE_PROFILE 0x102E -#define CL_DEVICE_VERSION 0x102F -#define CL_DEVICE_EXTENSIONS 0x1030 -#define CL_DEVICE_PLATFORM 0x1031 -#define CL_DEVICE_DOUBLE_FP_CONFIG 0x1032 -/* 0x1033 reserved for CL_DEVICE_HALF_FP_CONFIG */ -#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_HALF 0x1034 -#define CL_DEVICE_HOST_UNIFIED_MEMORY 0x1035 /* deprecated */ -#define CL_DEVICE_NATIVE_VECTOR_WIDTH_CHAR 0x1036 -#define CL_DEVICE_NATIVE_VECTOR_WIDTH_SHORT 0x1037 -#define CL_DEVICE_NATIVE_VECTOR_WIDTH_INT 0x1038 -#define CL_DEVICE_NATIVE_VECTOR_WIDTH_LONG 0x1039 -#define CL_DEVICE_NATIVE_VECTOR_WIDTH_FLOAT 0x103A -#define CL_DEVICE_NATIVE_VECTOR_WIDTH_DOUBLE 0x103B -#define CL_DEVICE_NATIVE_VECTOR_WIDTH_HALF 0x103C -#define CL_DEVICE_OPENCL_C_VERSION 0x103D -#define CL_DEVICE_LINKER_AVAILABLE 0x103E -#define CL_DEVICE_BUILT_IN_KERNELS 0x103F -#define CL_DEVICE_IMAGE_MAX_BUFFER_SIZE 0x1040 -#define CL_DEVICE_IMAGE_MAX_ARRAY_SIZE 0x1041 -#define CL_DEVICE_PARENT_DEVICE 0x1042 -#define CL_DEVICE_PARTITION_MAX_SUB_DEVICES 0x1043 -#define CL_DEVICE_PARTITION_PROPERTIES 0x1044 -#define CL_DEVICE_PARTITION_AFFINITY_DOMAIN 0x1045 -#define CL_DEVICE_PARTITION_TYPE 0x1046 -#define CL_DEVICE_REFERENCE_COUNT 0x1047 -#define CL_DEVICE_PREFERRED_INTEROP_USER_SYNC 0x1048 -#define CL_DEVICE_PRINTF_BUFFER_SIZE 0x1049 -#define CL_DEVICE_IMAGE_PITCH_ALIGNMENT 0x104A -#define CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT 0x104B -#define CL_DEVICE_MAX_READ_WRITE_IMAGE_ARGS 0x104C -#define CL_DEVICE_MAX_GLOBAL_VARIABLE_SIZE 0x104D -#define CL_DEVICE_QUEUE_ON_DEVICE_PROPERTIES 0x104E -#define CL_DEVICE_QUEUE_ON_DEVICE_PREFERRED_SIZE 0x104F -#define CL_DEVICE_QUEUE_ON_DEVICE_MAX_SIZE 0x1050 -#define CL_DEVICE_MAX_ON_DEVICE_QUEUES 0x1051 -#define CL_DEVICE_MAX_ON_DEVICE_EVENTS 0x1052 -#define CL_DEVICE_SVM_CAPABILITIES 0x1053 -#define CL_DEVICE_GLOBAL_VARIABLE_PREFERRED_TOTAL_SIZE 0x1054 -#define CL_DEVICE_MAX_PIPE_ARGS 0x1055 -#define CL_DEVICE_PIPE_MAX_ACTIVE_RESERVATIONS 0x1056 -#define CL_DEVICE_PIPE_MAX_PACKET_SIZE 0x1057 -#define CL_DEVICE_PREFERRED_PLATFORM_ATOMIC_ALIGNMENT 0x1058 -#define CL_DEVICE_PREFERRED_GLOBAL_ATOMIC_ALIGNMENT 0x1059 -#define CL_DEVICE_PREFERRED_LOCAL_ATOMIC_ALIGNMENT 0x105A -#define CL_DEVICE_IL_VERSION 0x105B -#define CL_DEVICE_MAX_NUM_SUB_GROUPS 0x105C -#define CL_DEVICE_SUB_GROUP_INDEPENDENT_FORWARD_PROGRESS 0x105D - -/* cl_device_fp_config - bitfield */ -#define CL_FP_DENORM (1 << 0) -#define CL_FP_INF_NAN (1 << 1) -#define CL_FP_ROUND_TO_NEAREST (1 << 2) -#define CL_FP_ROUND_TO_ZERO (1 << 3) -#define CL_FP_ROUND_TO_INF (1 << 4) -#define CL_FP_FMA (1 << 5) -#define CL_FP_SOFT_FLOAT (1 << 6) -#define CL_FP_CORRECTLY_ROUNDED_DIVIDE_SQRT (1 << 7) - -/* cl_device_mem_cache_type */ -#define CL_NONE 0x0 -#define CL_READ_ONLY_CACHE 0x1 -#define CL_READ_WRITE_CACHE 0x2 - -/* cl_device_local_mem_type */ -#define CL_LOCAL 0x1 -#define CL_GLOBAL 0x2 - -/* cl_device_exec_capabilities - bitfield */ -#define CL_EXEC_KERNEL (1 << 0) -#define CL_EXEC_NATIVE_KERNEL (1 << 1) - -/* cl_command_queue_properties - bitfield */ -#define CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE (1 << 0) -#define CL_QUEUE_PROFILING_ENABLE (1 << 1) -#define CL_QUEUE_ON_DEVICE (1 << 2) -#define CL_QUEUE_ON_DEVICE_DEFAULT (1 << 3) - -/* cl_context_info */ -#define CL_CONTEXT_REFERENCE_COUNT 0x1080 -#define CL_CONTEXT_DEVICES 0x1081 -#define CL_CONTEXT_PROPERTIES 0x1082 -#define CL_CONTEXT_NUM_DEVICES 0x1083 - -/* cl_context_properties */ -#define CL_CONTEXT_PLATFORM 0x1084 -#define CL_CONTEXT_INTEROP_USER_SYNC 0x1085 - -/* cl_device_partition_property */ -#define CL_DEVICE_PARTITION_EQUALLY 0x1086 -#define CL_DEVICE_PARTITION_BY_COUNTS 0x1087 -#define CL_DEVICE_PARTITION_BY_COUNTS_LIST_END 0x0 -#define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN 0x1088 - -/* cl_device_affinity_domain */ -#define CL_DEVICE_AFFINITY_DOMAIN_NUMA (1 << 0) -#define CL_DEVICE_AFFINITY_DOMAIN_L4_CACHE (1 << 1) -#define CL_DEVICE_AFFINITY_DOMAIN_L3_CACHE (1 << 2) -#define CL_DEVICE_AFFINITY_DOMAIN_L2_CACHE (1 << 3) -#define CL_DEVICE_AFFINITY_DOMAIN_L1_CACHE (1 << 4) -#define CL_DEVICE_AFFINITY_DOMAIN_NEXT_PARTITIONABLE (1 << 5) - -/* cl_device_svm_capabilities */ -#define CL_DEVICE_SVM_COARSE_GRAIN_BUFFER (1 << 0) -#define CL_DEVICE_SVM_FINE_GRAIN_BUFFER (1 << 1) -#define CL_DEVICE_SVM_FINE_GRAIN_SYSTEM (1 << 2) -#define CL_DEVICE_SVM_ATOMICS (1 << 3) - -/* cl_command_queue_info */ -#define CL_QUEUE_CONTEXT 0x1090 -#define CL_QUEUE_DEVICE 0x1091 -#define CL_QUEUE_REFERENCE_COUNT 0x1092 -#define CL_QUEUE_PROPERTIES 0x1093 -#define CL_QUEUE_SIZE 0x1094 -#define CL_QUEUE_DEVICE_DEFAULT 0x1095 - -/* cl_mem_flags and cl_svm_mem_flags - bitfield */ -#define CL_MEM_READ_WRITE (1 << 0) -#define CL_MEM_WRITE_ONLY (1 << 1) -#define CL_MEM_READ_ONLY (1 << 2) -#define CL_MEM_USE_HOST_PTR (1 << 3) -#define CL_MEM_ALLOC_HOST_PTR (1 << 4) -#define CL_MEM_COPY_HOST_PTR (1 << 5) -/* reserved (1 << 6) */ -#define CL_MEM_HOST_WRITE_ONLY (1 << 7) -#define CL_MEM_HOST_READ_ONLY (1 << 8) -#define CL_MEM_HOST_NO_ACCESS (1 << 9) -#define CL_MEM_SVM_FINE_GRAIN_BUFFER (1 << 10) /* used by cl_svm_mem_flags only */ -#define CL_MEM_SVM_ATOMICS (1 << 11) /* used by cl_svm_mem_flags only */ -#define CL_MEM_KERNEL_READ_AND_WRITE (1 << 12) - -/* cl_mem_migration_flags - bitfield */ -#define CL_MIGRATE_MEM_OBJECT_HOST (1 << 0) -#define CL_MIGRATE_MEM_OBJECT_CONTENT_UNDEFINED (1 << 1) - -/* cl_channel_order */ -#define CL_R 0x10B0 -#define CL_A 0x10B1 -#define CL_RG 0x10B2 -#define CL_RA 0x10B3 -#define CL_RGB 0x10B4 -#define CL_RGBA 0x10B5 -#define CL_BGRA 0x10B6 -#define CL_ARGB 0x10B7 -#define CL_INTENSITY 0x10B8 -#define CL_LUMINANCE 0x10B9 -#define CL_Rx 0x10BA -#define CL_RGx 0x10BB -#define CL_RGBx 0x10BC -#define CL_DEPTH 0x10BD -#define CL_DEPTH_STENCIL 0x10BE -#define CL_sRGB 0x10BF -#define CL_sRGBx 0x10C0 -#define CL_sRGBA 0x10C1 -#define CL_sBGRA 0x10C2 -#define CL_ABGR 0x10C3 - -/* cl_channel_type */ -#define CL_SNORM_INT8 0x10D0 -#define CL_SNORM_INT16 0x10D1 -#define CL_UNORM_INT8 0x10D2 -#define CL_UNORM_INT16 0x10D3 -#define CL_UNORM_SHORT_565 0x10D4 -#define CL_UNORM_SHORT_555 0x10D5 -#define CL_UNORM_INT_101010 0x10D6 -#define CL_SIGNED_INT8 0x10D7 -#define CL_SIGNED_INT16 0x10D8 -#define CL_SIGNED_INT32 0x10D9 -#define CL_UNSIGNED_INT8 0x10DA -#define CL_UNSIGNED_INT16 0x10DB -#define CL_UNSIGNED_INT32 0x10DC -#define CL_HALF_FLOAT 0x10DD -#define CL_FLOAT 0x10DE -#define CL_UNORM_INT24 0x10DF -#define CL_UNORM_INT_101010_2 0x10E0 - -/* cl_mem_object_type */ -#define CL_MEM_OBJECT_BUFFER 0x10F0 -#define CL_MEM_OBJECT_IMAGE2D 0x10F1 -#define CL_MEM_OBJECT_IMAGE3D 0x10F2 -#define CL_MEM_OBJECT_IMAGE2D_ARRAY 0x10F3 -#define CL_MEM_OBJECT_IMAGE1D 0x10F4 -#define CL_MEM_OBJECT_IMAGE1D_ARRAY 0x10F5 -#define CL_MEM_OBJECT_IMAGE1D_BUFFER 0x10F6 -#define CL_MEM_OBJECT_PIPE 0x10F7 - -/* cl_mem_info */ -#define CL_MEM_TYPE 0x1100 -#define CL_MEM_FLAGS 0x1101 -#define CL_MEM_SIZE 0x1102 -#define CL_MEM_HOST_PTR 0x1103 -#define CL_MEM_MAP_COUNT 0x1104 -#define CL_MEM_REFERENCE_COUNT 0x1105 -#define CL_MEM_CONTEXT 0x1106 -#define CL_MEM_ASSOCIATED_MEMOBJECT 0x1107 -#define CL_MEM_OFFSET 0x1108 -#define CL_MEM_USES_SVM_POINTER 0x1109 - -/* cl_image_info */ -#define CL_IMAGE_FORMAT 0x1110 -#define CL_IMAGE_ELEMENT_SIZE 0x1111 -#define CL_IMAGE_ROW_PITCH 0x1112 -#define CL_IMAGE_SLICE_PITCH 0x1113 -#define CL_IMAGE_WIDTH 0x1114 -#define CL_IMAGE_HEIGHT 0x1115 -#define CL_IMAGE_DEPTH 0x1116 -#define CL_IMAGE_ARRAY_SIZE 0x1117 -#define CL_IMAGE_BUFFER 0x1118 -#define CL_IMAGE_NUM_MIP_LEVELS 0x1119 -#define CL_IMAGE_NUM_SAMPLES 0x111A - -/* cl_pipe_info */ -#define CL_PIPE_PACKET_SIZE 0x1120 -#define CL_PIPE_MAX_PACKETS 0x1121 - -/* cl_addressing_mode */ -#define CL_ADDRESS_NONE 0x1130 -#define CL_ADDRESS_CLAMP_TO_EDGE 0x1131 -#define CL_ADDRESS_CLAMP 0x1132 -#define CL_ADDRESS_REPEAT 0x1133 -#define CL_ADDRESS_MIRRORED_REPEAT 0x1134 - -/* cl_filter_mode */ -#define CL_FILTER_NEAREST 0x1140 -#define CL_FILTER_LINEAR 0x1141 - -/* cl_sampler_info */ -#define CL_SAMPLER_REFERENCE_COUNT 0x1150 -#define CL_SAMPLER_CONTEXT 0x1151 -#define CL_SAMPLER_NORMALIZED_COORDS 0x1152 -#define CL_SAMPLER_ADDRESSING_MODE 0x1153 -#define CL_SAMPLER_FILTER_MODE 0x1154 -#define CL_SAMPLER_MIP_FILTER_MODE 0x1155 -#define CL_SAMPLER_LOD_MIN 0x1156 -#define CL_SAMPLER_LOD_MAX 0x1157 - -/* cl_map_flags - bitfield */ -#define CL_MAP_READ (1 << 0) -#define CL_MAP_WRITE (1 << 1) -#define CL_MAP_WRITE_INVALIDATE_REGION (1 << 2) - -/* cl_program_info */ -#define CL_PROGRAM_REFERENCE_COUNT 0x1160 -#define CL_PROGRAM_CONTEXT 0x1161 -#define CL_PROGRAM_NUM_DEVICES 0x1162 -#define CL_PROGRAM_DEVICES 0x1163 -#define CL_PROGRAM_SOURCE 0x1164 -#define CL_PROGRAM_BINARY_SIZES 0x1165 -#define CL_PROGRAM_BINARIES 0x1166 -#define CL_PROGRAM_NUM_KERNELS 0x1167 -#define CL_PROGRAM_KERNEL_NAMES 0x1168 -#define CL_PROGRAM_IL 0x1169 - -/* cl_program_build_info */ -#define CL_PROGRAM_BUILD_STATUS 0x1181 -#define CL_PROGRAM_BUILD_OPTIONS 0x1182 -#define CL_PROGRAM_BUILD_LOG 0x1183 -#define CL_PROGRAM_BINARY_TYPE 0x1184 -#define CL_PROGRAM_BUILD_GLOBAL_VARIABLE_TOTAL_SIZE 0x1185 - -/* cl_program_binary_type */ -#define CL_PROGRAM_BINARY_TYPE_NONE 0x0 -#define CL_PROGRAM_BINARY_TYPE_COMPILED_OBJECT 0x1 -#define CL_PROGRAM_BINARY_TYPE_LIBRARY 0x2 -#define CL_PROGRAM_BINARY_TYPE_EXECUTABLE 0x4 - -/* cl_build_status */ -#define CL_BUILD_SUCCESS 0 -#define CL_BUILD_NONE -1 -#define CL_BUILD_ERROR -2 -#define CL_BUILD_IN_PROGRESS -3 - -/* cl_kernel_info */ -#define CL_KERNEL_FUNCTION_NAME 0x1190 -#define CL_KERNEL_NUM_ARGS 0x1191 -#define CL_KERNEL_REFERENCE_COUNT 0x1192 -#define CL_KERNEL_CONTEXT 0x1193 -#define CL_KERNEL_PROGRAM 0x1194 -#define CL_KERNEL_ATTRIBUTES 0x1195 -#define CL_KERNEL_MAX_NUM_SUB_GROUPS 0x11B9 -#define CL_KERNEL_COMPILE_NUM_SUB_GROUPS 0x11BA - -/* cl_kernel_arg_info */ -#define CL_KERNEL_ARG_ADDRESS_QUALIFIER 0x1196 -#define CL_KERNEL_ARG_ACCESS_QUALIFIER 0x1197 -#define CL_KERNEL_ARG_TYPE_NAME 0x1198 -#define CL_KERNEL_ARG_TYPE_QUALIFIER 0x1199 -#define CL_KERNEL_ARG_NAME 0x119A - -/* cl_kernel_arg_address_qualifier */ -#define CL_KERNEL_ARG_ADDRESS_GLOBAL 0x119B -#define CL_KERNEL_ARG_ADDRESS_LOCAL 0x119C -#define CL_KERNEL_ARG_ADDRESS_CONSTANT 0x119D -#define CL_KERNEL_ARG_ADDRESS_PRIVATE 0x119E - -/* cl_kernel_arg_access_qualifier */ -#define CL_KERNEL_ARG_ACCESS_READ_ONLY 0x11A0 -#define CL_KERNEL_ARG_ACCESS_WRITE_ONLY 0x11A1 -#define CL_KERNEL_ARG_ACCESS_READ_WRITE 0x11A2 -#define CL_KERNEL_ARG_ACCESS_NONE 0x11A3 - -/* cl_kernel_arg_type_qualifer */ -#define CL_KERNEL_ARG_TYPE_NONE 0 -#define CL_KERNEL_ARG_TYPE_CONST (1 << 0) -#define CL_KERNEL_ARG_TYPE_RESTRICT (1 << 1) -#define CL_KERNEL_ARG_TYPE_VOLATILE (1 << 2) -#define CL_KERNEL_ARG_TYPE_PIPE (1 << 3) - -/* cl_kernel_work_group_info */ -#define CL_KERNEL_WORK_GROUP_SIZE 0x11B0 -#define CL_KERNEL_COMPILE_WORK_GROUP_SIZE 0x11B1 -#define CL_KERNEL_LOCAL_MEM_SIZE 0x11B2 -#define CL_KERNEL_PREFERRED_WORK_GROUP_SIZE_MULTIPLE 0x11B3 -#define CL_KERNEL_PRIVATE_MEM_SIZE 0x11B4 -#define CL_KERNEL_GLOBAL_WORK_SIZE 0x11B5 - -/* cl_kernel_sub_group_info */ -#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE 0x2033 -#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE 0x2034 -#define CL_KERNEL_LOCAL_SIZE_FOR_SUB_GROUP_COUNT 0x11B8 - -/* cl_kernel_exec_info */ -#define CL_KERNEL_EXEC_INFO_SVM_PTRS 0x11B6 -#define CL_KERNEL_EXEC_INFO_SVM_FINE_GRAIN_SYSTEM 0x11B7 - -/* cl_event_info */ -#define CL_EVENT_COMMAND_QUEUE 0x11D0 -#define CL_EVENT_COMMAND_TYPE 0x11D1 -#define CL_EVENT_REFERENCE_COUNT 0x11D2 -#define CL_EVENT_COMMAND_EXECUTION_STATUS 0x11D3 -#define CL_EVENT_CONTEXT 0x11D4 - -/* cl_command_type */ -#define CL_COMMAND_NDRANGE_KERNEL 0x11F0 -#define CL_COMMAND_TASK 0x11F1 -#define CL_COMMAND_NATIVE_KERNEL 0x11F2 -#define CL_COMMAND_READ_BUFFER 0x11F3 -#define CL_COMMAND_WRITE_BUFFER 0x11F4 -#define CL_COMMAND_COPY_BUFFER 0x11F5 -#define CL_COMMAND_READ_IMAGE 0x11F6 -#define CL_COMMAND_WRITE_IMAGE 0x11F7 -#define CL_COMMAND_COPY_IMAGE 0x11F8 -#define CL_COMMAND_COPY_IMAGE_TO_BUFFER 0x11F9 -#define CL_COMMAND_COPY_BUFFER_TO_IMAGE 0x11FA -#define CL_COMMAND_MAP_BUFFER 0x11FB -#define CL_COMMAND_MAP_IMAGE 0x11FC -#define CL_COMMAND_UNMAP_MEM_OBJECT 0x11FD -#define CL_COMMAND_MARKER 0x11FE -#define CL_COMMAND_ACQUIRE_GL_OBJECTS 0x11FF -#define CL_COMMAND_RELEASE_GL_OBJECTS 0x1200 -#define CL_COMMAND_READ_BUFFER_RECT 0x1201 -#define CL_COMMAND_WRITE_BUFFER_RECT 0x1202 -#define CL_COMMAND_COPY_BUFFER_RECT 0x1203 -#define CL_COMMAND_USER 0x1204 -#define CL_COMMAND_BARRIER 0x1205 -#define CL_COMMAND_MIGRATE_MEM_OBJECTS 0x1206 -#define CL_COMMAND_FILL_BUFFER 0x1207 -#define CL_COMMAND_FILL_IMAGE 0x1208 -#define CL_COMMAND_SVM_FREE 0x1209 -#define CL_COMMAND_SVM_MEMCPY 0x120A -#define CL_COMMAND_SVM_MEMFILL 0x120B -#define CL_COMMAND_SVM_MAP 0x120C -#define CL_COMMAND_SVM_UNMAP 0x120D - -/* command execution status */ -#define CL_COMPLETE 0x0 -#define CL_RUNNING 0x1 -#define CL_SUBMITTED 0x2 -#define CL_QUEUED 0x3 - -/* cl_buffer_create_type */ -#define CL_BUFFER_CREATE_TYPE_REGION 0x1220 - -/* cl_profiling_info */ -#define CL_PROFILING_COMMAND_QUEUED 0x1280 -#define CL_PROFILING_COMMAND_SUBMIT 0x1281 -#define CL_PROFILING_COMMAND_START 0x1282 -#define CL_PROFILING_COMMAND_END 0x1283 -#define CL_PROFILING_COMMAND_COMPLETE 0x1284 - -/********************************************************************************************************/ - -/* Platform API */ -extern CL_API_ENTRY cl_int CL_API_CALL -clGetPlatformIDs(cl_uint /* num_entries */, - cl_platform_id * /* platforms */, - cl_uint * /* num_platforms */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetPlatformInfo(cl_platform_id /* platform */, - cl_platform_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -/* Device APIs */ -extern CL_API_ENTRY cl_int CL_API_CALL -clGetDeviceIDs(cl_platform_id /* platform */, - cl_device_type /* device_type */, - cl_uint /* num_entries */, - cl_device_id * /* devices */, - cl_uint * /* num_devices */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetDeviceInfo(cl_device_id /* device */, - cl_device_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clCreateSubDevices(cl_device_id /* in_device */, - const cl_device_partition_property * /* properties */, - cl_uint /* num_devices */, - cl_device_id * /* out_devices */, - cl_uint * /* num_devices_ret */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainDevice(cl_device_id /* device */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseDevice(cl_device_id /* device */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clSetDefaultDeviceCommandQueue(cl_context /* context */, - cl_device_id /* device */, - cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_2_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetDeviceAndHostTimer(cl_device_id /* device */, - cl_ulong* /* device_timestamp */, - cl_ulong* /* host_timestamp */) CL_API_SUFFIX__VERSION_2_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetHostTimer(cl_device_id /* device */, - cl_ulong * /* host_timestamp */) CL_API_SUFFIX__VERSION_2_1; - - -/* Context APIs */ -extern CL_API_ENTRY cl_context CL_API_CALL -clCreateContext(const cl_context_properties * /* properties */, - cl_uint /* num_devices */, - const cl_device_id * /* devices */, - void (CL_CALLBACK * /* pfn_notify */)(const char *, const void *, size_t, void *), - void * /* user_data */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_context CL_API_CALL -clCreateContextFromType(const cl_context_properties * /* properties */, - cl_device_type /* device_type */, - void (CL_CALLBACK * /* pfn_notify*/ )(const char *, const void *, size_t, void *), - void * /* user_data */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetContextInfo(cl_context /* context */, - cl_context_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -/* Command Queue APIs */ -extern CL_API_ENTRY cl_command_queue CL_API_CALL -clCreateCommandQueueWithProperties(cl_context /* context */, - cl_device_id /* device */, - const cl_queue_properties * /* properties */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetCommandQueueInfo(cl_command_queue /* command_queue */, - cl_command_queue_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -/* Memory Object APIs */ -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreateBuffer(cl_context /* context */, - cl_mem_flags /* flags */, - size_t /* size */, - void * /* host_ptr */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreateSubBuffer(cl_mem /* buffer */, - cl_mem_flags /* flags */, - cl_buffer_create_type /* buffer_create_type */, - const void * /* buffer_create_info */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1; - -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreateImage(cl_context /* context */, - cl_mem_flags /* flags */, - const cl_image_format * /* image_format */, - const cl_image_desc * /* image_desc */, - void * /* host_ptr */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreatePipe(cl_context /* context */, - cl_mem_flags /* flags */, - cl_uint /* pipe_packet_size */, - cl_uint /* pipe_max_packets */, - const cl_pipe_properties * /* properties */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetSupportedImageFormats(cl_context /* context */, - cl_mem_flags /* flags */, - cl_mem_object_type /* image_type */, - cl_uint /* num_entries */, - cl_image_format * /* image_formats */, - cl_uint * /* num_image_formats */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetMemObjectInfo(cl_mem /* memobj */, - cl_mem_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetImageInfo(cl_mem /* image */, - cl_image_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetPipeInfo(cl_mem /* pipe */, - cl_pipe_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_2_0; - - -extern CL_API_ENTRY cl_int CL_API_CALL -clSetMemObjectDestructorCallback(cl_mem /* memobj */, - void (CL_CALLBACK * /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/), - void * /*user_data */ ) CL_API_SUFFIX__VERSION_1_1; - -/* SVM Allocation APIs */ -extern CL_API_ENTRY void * CL_API_CALL -clSVMAlloc(cl_context /* context */, - cl_svm_mem_flags /* flags */, - size_t /* size */, - cl_uint /* alignment */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY void CL_API_CALL -clSVMFree(cl_context /* context */, - void * /* svm_pointer */) CL_API_SUFFIX__VERSION_2_0; - -/* Sampler APIs */ -extern CL_API_ENTRY cl_sampler CL_API_CALL -clCreateSamplerWithProperties(cl_context /* context */, - const cl_sampler_properties * /* normalized_coords */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetSamplerInfo(cl_sampler /* sampler */, - cl_sampler_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -/* Program Object APIs */ -extern CL_API_ENTRY cl_program CL_API_CALL -clCreateProgramWithSource(cl_context /* context */, - cl_uint /* count */, - const char ** /* strings */, - const size_t * /* lengths */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_program CL_API_CALL -clCreateProgramWithBinary(cl_context /* context */, - cl_uint /* num_devices */, - const cl_device_id * /* device_list */, - const size_t * /* lengths */, - const unsigned char ** /* binaries */, - cl_int * /* binary_status */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_program CL_API_CALL -clCreateProgramWithBuiltInKernels(cl_context /* context */, - cl_uint /* num_devices */, - const cl_device_id * /* device_list */, - const char * /* kernel_names */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_program CL_API_CALL -clCreateProgramWithIL(cl_context /* context */, - const void* /* il */, - size_t /* length */, - cl_int* /* errcode_ret */) CL_API_SUFFIX__VERSION_2_1; - - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clBuildProgram(cl_program /* program */, - cl_uint /* num_devices */, - const cl_device_id * /* device_list */, - const char * /* options */, - void (CL_CALLBACK * /* pfn_notify */)(cl_program /* program */, void * /* user_data */), - void * /* user_data */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clCompileProgram(cl_program /* program */, - cl_uint /* num_devices */, - const cl_device_id * /* device_list */, - const char * /* options */, - cl_uint /* num_input_headers */, - const cl_program * /* input_headers */, - const char ** /* header_include_names */, - void (CL_CALLBACK * /* pfn_notify */)(cl_program /* program */, void * /* user_data */), - void * /* user_data */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_program CL_API_CALL -clLinkProgram(cl_context /* context */, - cl_uint /* num_devices */, - const cl_device_id * /* device_list */, - const char * /* options */, - cl_uint /* num_input_programs */, - const cl_program * /* input_programs */, - void (CL_CALLBACK * /* pfn_notify */)(cl_program /* program */, void * /* user_data */), - void * /* user_data */, - cl_int * /* errcode_ret */ ) CL_API_SUFFIX__VERSION_1_2; - - -extern CL_API_ENTRY cl_int CL_API_CALL -clUnloadPlatformCompiler(cl_platform_id /* platform */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetProgramInfo(cl_program /* program */, - cl_program_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetProgramBuildInfo(cl_program /* program */, - cl_device_id /* device */, - cl_program_build_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -/* Kernel Object APIs */ -extern CL_API_ENTRY cl_kernel CL_API_CALL -clCreateKernel(cl_program /* program */, - const char * /* kernel_name */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clCreateKernelsInProgram(cl_program /* program */, - cl_uint /* num_kernels */, - cl_kernel * /* kernels */, - cl_uint * /* num_kernels_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_kernel CL_API_CALL -clCloneKernel(cl_kernel /* source_kernel */, - cl_int* /* errcode_ret */) CL_API_SUFFIX__VERSION_2_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainKernel(cl_kernel /* kernel */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseKernel(cl_kernel /* kernel */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clSetKernelArg(cl_kernel /* kernel */, - cl_uint /* arg_index */, - size_t /* arg_size */, - const void * /* arg_value */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clSetKernelArgSVMPointer(cl_kernel /* kernel */, - cl_uint /* arg_index */, - const void * /* arg_value */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clSetKernelExecInfo(cl_kernel /* kernel */, - cl_kernel_exec_info /* param_name */, - size_t /* param_value_size */, - const void * /* param_value */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetKernelInfo(cl_kernel /* kernel */, - cl_kernel_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetKernelArgInfo(cl_kernel /* kernel */, - cl_uint /* arg_indx */, - cl_kernel_arg_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetKernelWorkGroupInfo(cl_kernel /* kernel */, - cl_device_id /* device */, - cl_kernel_work_group_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetKernelSubGroupInfo(cl_kernel /* kernel */, - cl_device_id /* device */, - cl_kernel_sub_group_info /* param_name */, - size_t /* input_value_size */, - const void* /*input_value */, - size_t /* param_value_size */, - void* /* param_value */, - size_t* /* param_value_size_ret */ ) CL_API_SUFFIX__VERSION_2_1; - - -/* Event Object APIs */ -extern CL_API_ENTRY cl_int CL_API_CALL -clWaitForEvents(cl_uint /* num_events */, - const cl_event * /* event_list */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetEventInfo(cl_event /* event */, - cl_event_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_event CL_API_CALL -clCreateUserEvent(cl_context /* context */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clSetUserEventStatus(cl_event /* event */, - cl_int /* execution_status */) CL_API_SUFFIX__VERSION_1_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clSetEventCallback( cl_event /* event */, - cl_int /* command_exec_callback_type */, - void (CL_CALLBACK * /* pfn_notify */)(cl_event, cl_int, void *), - void * /* user_data */) CL_API_SUFFIX__VERSION_1_1; - -/* Profiling APIs */ -extern CL_API_ENTRY cl_int CL_API_CALL -clGetEventProfilingInfo(cl_event /* event */, - cl_profiling_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -/* Flush and Finish APIs */ -extern CL_API_ENTRY cl_int CL_API_CALL -clFlush(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clFinish(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; - -/* Enqueued Commands APIs */ -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueReadBuffer(cl_command_queue /* command_queue */, - cl_mem /* buffer */, - cl_bool /* blocking_read */, - size_t /* offset */, - size_t /* size */, - void * /* ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueReadBufferRect(cl_command_queue /* command_queue */, - cl_mem /* buffer */, - cl_bool /* blocking_read */, - const size_t * /* buffer_offset */, - const size_t * /* host_offset */, - const size_t * /* region */, - size_t /* buffer_row_pitch */, - size_t /* buffer_slice_pitch */, - size_t /* host_row_pitch */, - size_t /* host_slice_pitch */, - void * /* ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueWriteBuffer(cl_command_queue /* command_queue */, - cl_mem /* buffer */, - cl_bool /* blocking_write */, - size_t /* offset */, - size_t /* size */, - const void * /* ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueWriteBufferRect(cl_command_queue /* command_queue */, - cl_mem /* buffer */, - cl_bool /* blocking_write */, - const size_t * /* buffer_offset */, - const size_t * /* host_offset */, - const size_t * /* region */, - size_t /* buffer_row_pitch */, - size_t /* buffer_slice_pitch */, - size_t /* host_row_pitch */, - size_t /* host_slice_pitch */, - const void * /* ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueFillBuffer(cl_command_queue /* command_queue */, - cl_mem /* buffer */, - const void * /* pattern */, - size_t /* pattern_size */, - size_t /* offset */, - size_t /* size */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueCopyBuffer(cl_command_queue /* command_queue */, - cl_mem /* src_buffer */, - cl_mem /* dst_buffer */, - size_t /* src_offset */, - size_t /* dst_offset */, - size_t /* size */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueCopyBufferRect(cl_command_queue /* command_queue */, - cl_mem /* src_buffer */, - cl_mem /* dst_buffer */, - const size_t * /* src_origin */, - const size_t * /* dst_origin */, - const size_t * /* region */, - size_t /* src_row_pitch */, - size_t /* src_slice_pitch */, - size_t /* dst_row_pitch */, - size_t /* dst_slice_pitch */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueReadImage(cl_command_queue /* command_queue */, - cl_mem /* image */, - cl_bool /* blocking_read */, - const size_t * /* origin[3] */, - const size_t * /* region[3] */, - size_t /* row_pitch */, - size_t /* slice_pitch */, - void * /* ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueWriteImage(cl_command_queue /* command_queue */, - cl_mem /* image */, - cl_bool /* blocking_write */, - const size_t * /* origin[3] */, - const size_t * /* region[3] */, - size_t /* input_row_pitch */, - size_t /* input_slice_pitch */, - const void * /* ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueFillImage(cl_command_queue /* command_queue */, - cl_mem /* image */, - const void * /* fill_color */, - const size_t * /* origin[3] */, - const size_t * /* region[3] */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueCopyImage(cl_command_queue /* command_queue */, - cl_mem /* src_image */, - cl_mem /* dst_image */, - const size_t * /* src_origin[3] */, - const size_t * /* dst_origin[3] */, - const size_t * /* region[3] */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueCopyImageToBuffer(cl_command_queue /* command_queue */, - cl_mem /* src_image */, - cl_mem /* dst_buffer */, - const size_t * /* src_origin[3] */, - const size_t * /* region[3] */, - size_t /* dst_offset */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueCopyBufferToImage(cl_command_queue /* command_queue */, - cl_mem /* src_buffer */, - cl_mem /* dst_image */, - size_t /* src_offset */, - const size_t * /* dst_origin[3] */, - const size_t * /* region[3] */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY void * CL_API_CALL -clEnqueueMapBuffer(cl_command_queue /* command_queue */, - cl_mem /* buffer */, - cl_bool /* blocking_map */, - cl_map_flags /* map_flags */, - size_t /* offset */, - size_t /* size */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY void * CL_API_CALL -clEnqueueMapImage(cl_command_queue /* command_queue */, - cl_mem /* image */, - cl_bool /* blocking_map */, - cl_map_flags /* map_flags */, - const size_t * /* origin[3] */, - const size_t * /* region[3] */, - size_t * /* image_row_pitch */, - size_t * /* image_slice_pitch */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueUnmapMemObject(cl_command_queue /* command_queue */, - cl_mem /* memobj */, - void * /* mapped_ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueMigrateMemObjects(cl_command_queue /* command_queue */, - cl_uint /* num_mem_objects */, - const cl_mem * /* mem_objects */, - cl_mem_migration_flags /* flags */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueNDRangeKernel(cl_command_queue /* command_queue */, - cl_kernel /* kernel */, - cl_uint /* work_dim */, - const size_t * /* global_work_offset */, - const size_t * /* global_work_size */, - const size_t * /* local_work_size */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueNativeKernel(cl_command_queue /* command_queue */, - void (CL_CALLBACK * /*user_func*/)(void *), - void * /* args */, - size_t /* cb_args */, - cl_uint /* num_mem_objects */, - const cl_mem * /* mem_list */, - const void ** /* args_mem_loc */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueMarkerWithWaitList(cl_command_queue /* command_queue */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueBarrierWithWaitList(cl_command_queue /* command_queue */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueSVMFree(cl_command_queue /* command_queue */, - cl_uint /* num_svm_pointers */, - void *[] /* svm_pointers[] */, - void (CL_CALLBACK * /*pfn_free_func*/)(cl_command_queue /* queue */, - cl_uint /* num_svm_pointers */, - void *[] /* svm_pointers[] */, - void * /* user_data */), - void * /* user_data */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueSVMMemcpy(cl_command_queue /* command_queue */, - cl_bool /* blocking_copy */, - void * /* dst_ptr */, - const void * /* src_ptr */, - size_t /* size */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueSVMMemFill(cl_command_queue /* command_queue */, - void * /* svm_ptr */, - const void * /* pattern */, - size_t /* pattern_size */, - size_t /* size */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueSVMMap(cl_command_queue /* command_queue */, - cl_bool /* blocking_map */, - cl_map_flags /* flags */, - void * /* svm_ptr */, - size_t /* size */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueSVMUnmap(cl_command_queue /* command_queue */, - void * /* svm_ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueSVMMigrateMem(cl_command_queue /* command_queue */, - cl_uint /* num_svm_pointers */, - const void ** /* svm_pointers */, - const size_t * /* sizes */, - cl_mem_migration_flags /* flags */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_2_1; - - -/* Extension function access - * - * Returns the extension function address for the given function name, - * or NULL if a valid function can not be found. The client must - * check to make sure the address is not NULL, before using or - * calling the returned function address. - */ -extern CL_API_ENTRY void * CL_API_CALL -clGetExtensionFunctionAddressForPlatform(cl_platform_id /* platform */, - const char * /* func_name */) CL_API_SUFFIX__VERSION_1_2; - - -/* Deprecated OpenCL 1.1 APIs */ -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL -clCreateImage2D(cl_context /* context */, - cl_mem_flags /* flags */, - const cl_image_format * /* image_format */, - size_t /* image_width */, - size_t /* image_height */, - size_t /* image_row_pitch */, - void * /* host_ptr */, - cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL -clCreateImage3D(cl_context /* context */, - cl_mem_flags /* flags */, - const cl_image_format * /* image_format */, - size_t /* image_width */, - size_t /* image_height */, - size_t /* image_depth */, - size_t /* image_row_pitch */, - size_t /* image_slice_pitch */, - void * /* host_ptr */, - cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL -clEnqueueMarker(cl_command_queue /* command_queue */, - cl_event * /* event */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL -clEnqueueWaitForEvents(cl_command_queue /* command_queue */, - cl_uint /* num_events */, - const cl_event * /* event_list */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL -clEnqueueBarrier(cl_command_queue /* command_queue */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL -clUnloadCompiler(void) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED void * CL_API_CALL -clGetExtensionFunctionAddress(const char * /* func_name */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -/* Deprecated OpenCL 2.0 APIs */ -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_command_queue CL_API_CALL -clCreateCommandQueue(cl_context /* context */, - cl_device_id /* device */, - cl_command_queue_properties /* properties */, - cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED; - - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_sampler CL_API_CALL -clCreateSampler(cl_context /* context */, - cl_bool /* normalized_coords */, - cl_addressing_mode /* addressing_mode */, - cl_filter_mode /* filter_mode */, - cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_int CL_API_CALL -clEnqueueTask(cl_command_queue /* command_queue */, - cl_kernel /* kernel */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED; - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_CL_H */ - diff --git a/third_party/opencl/include/CL/cl_d3d10.h b/third_party/opencl/include/CL/cl_d3d10.h deleted file mode 100644 index d5960a43f..000000000 --- a/third_party/opencl/include/CL/cl_d3d10.h +++ /dev/null @@ -1,131 +0,0 @@ -/********************************************************************************** - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - **********************************************************************************/ - -/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ - -#ifndef __OPENCL_CL_D3D10_H -#define __OPENCL_CL_D3D10_H - -#include -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/****************************************************************************** - * cl_khr_d3d10_sharing */ -#define cl_khr_d3d10_sharing 1 - -typedef cl_uint cl_d3d10_device_source_khr; -typedef cl_uint cl_d3d10_device_set_khr; - -/******************************************************************************/ - -/* Error Codes */ -#define CL_INVALID_D3D10_DEVICE_KHR -1002 -#define CL_INVALID_D3D10_RESOURCE_KHR -1003 -#define CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR -1004 -#define CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR -1005 - -/* cl_d3d10_device_source_nv */ -#define CL_D3D10_DEVICE_KHR 0x4010 -#define CL_D3D10_DXGI_ADAPTER_KHR 0x4011 - -/* cl_d3d10_device_set_nv */ -#define CL_PREFERRED_DEVICES_FOR_D3D10_KHR 0x4012 -#define CL_ALL_DEVICES_FOR_D3D10_KHR 0x4013 - -/* cl_context_info */ -#define CL_CONTEXT_D3D10_DEVICE_KHR 0x4014 -#define CL_CONTEXT_D3D10_PREFER_SHARED_RESOURCES_KHR 0x402C - -/* cl_mem_info */ -#define CL_MEM_D3D10_RESOURCE_KHR 0x4015 - -/* cl_image_info */ -#define CL_IMAGE_D3D10_SUBRESOURCE_KHR 0x4016 - -/* cl_command_type */ -#define CL_COMMAND_ACQUIRE_D3D10_OBJECTS_KHR 0x4017 -#define CL_COMMAND_RELEASE_D3D10_OBJECTS_KHR 0x4018 - -/******************************************************************************/ - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D10KHR_fn)( - cl_platform_id platform, - cl_d3d10_device_source_khr d3d_device_source, - void * d3d_object, - cl_d3d10_device_set_khr d3d_device_set, - cl_uint num_entries, - cl_device_id * devices, - cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10BufferKHR_fn)( - cl_context context, - cl_mem_flags flags, - ID3D10Buffer * resource, - cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture2DKHR_fn)( - cl_context context, - cl_mem_flags flags, - ID3D10Texture2D * resource, - UINT subresource, - cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture3DKHR_fn)( - cl_context context, - cl_mem_flags flags, - ID3D10Texture3D * resource, - UINT subresource, - cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D10ObjectsKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D10ObjectsKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event) CL_API_SUFFIX__VERSION_1_0; - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_CL_D3D10_H */ - diff --git a/third_party/opencl/include/CL/cl_d3d11.h b/third_party/opencl/include/CL/cl_d3d11.h deleted file mode 100644 index 39f907239..000000000 --- a/third_party/opencl/include/CL/cl_d3d11.h +++ /dev/null @@ -1,131 +0,0 @@ -/********************************************************************************** - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - **********************************************************************************/ - -/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ - -#ifndef __OPENCL_CL_D3D11_H -#define __OPENCL_CL_D3D11_H - -#include -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/****************************************************************************** - * cl_khr_d3d11_sharing */ -#define cl_khr_d3d11_sharing 1 - -typedef cl_uint cl_d3d11_device_source_khr; -typedef cl_uint cl_d3d11_device_set_khr; - -/******************************************************************************/ - -/* Error Codes */ -#define CL_INVALID_D3D11_DEVICE_KHR -1006 -#define CL_INVALID_D3D11_RESOURCE_KHR -1007 -#define CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR -1008 -#define CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR -1009 - -/* cl_d3d11_device_source */ -#define CL_D3D11_DEVICE_KHR 0x4019 -#define CL_D3D11_DXGI_ADAPTER_KHR 0x401A - -/* cl_d3d11_device_set */ -#define CL_PREFERRED_DEVICES_FOR_D3D11_KHR 0x401B -#define CL_ALL_DEVICES_FOR_D3D11_KHR 0x401C - -/* cl_context_info */ -#define CL_CONTEXT_D3D11_DEVICE_KHR 0x401D -#define CL_CONTEXT_D3D11_PREFER_SHARED_RESOURCES_KHR 0x402D - -/* cl_mem_info */ -#define CL_MEM_D3D11_RESOURCE_KHR 0x401E - -/* cl_image_info */ -#define CL_IMAGE_D3D11_SUBRESOURCE_KHR 0x401F - -/* cl_command_type */ -#define CL_COMMAND_ACQUIRE_D3D11_OBJECTS_KHR 0x4020 -#define CL_COMMAND_RELEASE_D3D11_OBJECTS_KHR 0x4021 - -/******************************************************************************/ - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D11KHR_fn)( - cl_platform_id platform, - cl_d3d11_device_source_khr d3d_device_source, - void * d3d_object, - cl_d3d11_device_set_khr d3d_device_set, - cl_uint num_entries, - cl_device_id * devices, - cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11BufferKHR_fn)( - cl_context context, - cl_mem_flags flags, - ID3D11Buffer * resource, - cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture2DKHR_fn)( - cl_context context, - cl_mem_flags flags, - ID3D11Texture2D * resource, - UINT subresource, - cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture3DKHR_fn)( - cl_context context, - cl_mem_flags flags, - ID3D11Texture3D * resource, - UINT subresource, - cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D11ObjectsKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D11ObjectsKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event) CL_API_SUFFIX__VERSION_1_2; - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_CL_D3D11_H */ - diff --git a/third_party/opencl/include/CL/cl_dx9_media_sharing.h b/third_party/opencl/include/CL/cl_dx9_media_sharing.h deleted file mode 100644 index 2729e8b9e..000000000 --- a/third_party/opencl/include/CL/cl_dx9_media_sharing.h +++ /dev/null @@ -1,132 +0,0 @@ -/********************************************************************************** - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - **********************************************************************************/ - -/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ - -#ifndef __OPENCL_CL_DX9_MEDIA_SHARING_H -#define __OPENCL_CL_DX9_MEDIA_SHARING_H - -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/******************************************************************************/ -/* cl_khr_dx9_media_sharing */ -#define cl_khr_dx9_media_sharing 1 - -typedef cl_uint cl_dx9_media_adapter_type_khr; -typedef cl_uint cl_dx9_media_adapter_set_khr; - -#if defined(_WIN32) -#include -typedef struct _cl_dx9_surface_info_khr -{ - IDirect3DSurface9 *resource; - HANDLE shared_handle; -} cl_dx9_surface_info_khr; -#endif - - -/******************************************************************************/ - -/* Error Codes */ -#define CL_INVALID_DX9_MEDIA_ADAPTER_KHR -1010 -#define CL_INVALID_DX9_MEDIA_SURFACE_KHR -1011 -#define CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR -1012 -#define CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR -1013 - -/* cl_media_adapter_type_khr */ -#define CL_ADAPTER_D3D9_KHR 0x2020 -#define CL_ADAPTER_D3D9EX_KHR 0x2021 -#define CL_ADAPTER_DXVA_KHR 0x2022 - -/* cl_media_adapter_set_khr */ -#define CL_PREFERRED_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR 0x2023 -#define CL_ALL_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR 0x2024 - -/* cl_context_info */ -#define CL_CONTEXT_ADAPTER_D3D9_KHR 0x2025 -#define CL_CONTEXT_ADAPTER_D3D9EX_KHR 0x2026 -#define CL_CONTEXT_ADAPTER_DXVA_KHR 0x2027 - -/* cl_mem_info */ -#define CL_MEM_DX9_MEDIA_ADAPTER_TYPE_KHR 0x2028 -#define CL_MEM_DX9_MEDIA_SURFACE_INFO_KHR 0x2029 - -/* cl_image_info */ -#define CL_IMAGE_DX9_MEDIA_PLANE_KHR 0x202A - -/* cl_command_type */ -#define CL_COMMAND_ACQUIRE_DX9_MEDIA_SURFACES_KHR 0x202B -#define CL_COMMAND_RELEASE_DX9_MEDIA_SURFACES_KHR 0x202C - -/******************************************************************************/ - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromDX9MediaAdapterKHR_fn)( - cl_platform_id platform, - cl_uint num_media_adapters, - cl_dx9_media_adapter_type_khr * media_adapter_type, - void * media_adapters, - cl_dx9_media_adapter_set_khr media_adapter_set, - cl_uint num_entries, - cl_device_id * devices, - cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromDX9MediaSurfaceKHR_fn)( - cl_context context, - cl_mem_flags flags, - cl_dx9_media_adapter_type_khr adapter_type, - void * surface_info, - cl_uint plane, - cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireDX9MediaSurfacesKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseDX9MediaSurfacesKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event) CL_API_SUFFIX__VERSION_1_2; - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_CL_DX9_MEDIA_SHARING_H */ - diff --git a/third_party/opencl/include/CL/cl_egl.h b/third_party/opencl/include/CL/cl_egl.h deleted file mode 100644 index a765bd526..000000000 --- a/third_party/opencl/include/CL/cl_egl.h +++ /dev/null @@ -1,136 +0,0 @@ -/******************************************************************************* - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - ******************************************************************************/ - -#ifndef __OPENCL_CL_EGL_H -#define __OPENCL_CL_EGL_H - -#ifdef __APPLE__ - -#else -#include -#endif - -#ifdef __cplusplus -extern "C" { -#endif - - -/* Command type for events created with clEnqueueAcquireEGLObjectsKHR */ -#define CL_COMMAND_EGL_FENCE_SYNC_OBJECT_KHR 0x202F -#define CL_COMMAND_ACQUIRE_EGL_OBJECTS_KHR 0x202D -#define CL_COMMAND_RELEASE_EGL_OBJECTS_KHR 0x202E - -/* Error type for clCreateFromEGLImageKHR */ -#define CL_INVALID_EGL_OBJECT_KHR -1093 -#define CL_EGL_RESOURCE_NOT_ACQUIRED_KHR -1092 - -/* CLeglImageKHR is an opaque handle to an EGLImage */ -typedef void* CLeglImageKHR; - -/* CLeglDisplayKHR is an opaque handle to an EGLDisplay */ -typedef void* CLeglDisplayKHR; - -/* CLeglSyncKHR is an opaque handle to an EGLSync object */ -typedef void* CLeglSyncKHR; - -/* properties passed to clCreateFromEGLImageKHR */ -typedef intptr_t cl_egl_image_properties_khr; - - -#define cl_khr_egl_image 1 - -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreateFromEGLImageKHR(cl_context /* context */, - CLeglDisplayKHR /* egldisplay */, - CLeglImageKHR /* eglimage */, - cl_mem_flags /* flags */, - const cl_egl_image_properties_khr * /* properties */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromEGLImageKHR_fn)( - cl_context context, - CLeglDisplayKHR egldisplay, - CLeglImageKHR eglimage, - cl_mem_flags flags, - const cl_egl_image_properties_khr * properties, - cl_int * errcode_ret); - - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueAcquireEGLObjectsKHR(cl_command_queue /* command_queue */, - cl_uint /* num_objects */, - const cl_mem * /* mem_objects */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireEGLObjectsKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event); - - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueReleaseEGLObjectsKHR(cl_command_queue /* command_queue */, - cl_uint /* num_objects */, - const cl_mem * /* mem_objects */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseEGLObjectsKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event); - - -#define cl_khr_egl_event 1 - -extern CL_API_ENTRY cl_event CL_API_CALL -clCreateEventFromEGLSyncKHR(cl_context /* context */, - CLeglSyncKHR /* sync */, - CLeglDisplayKHR /* display */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_event (CL_API_CALL *clCreateEventFromEGLSyncKHR_fn)( - cl_context context, - CLeglSyncKHR sync, - CLeglDisplayKHR display, - cl_int * errcode_ret); - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_CL_EGL_H */ diff --git a/third_party/opencl/include/CL/cl_ext.h b/third_party/opencl/include/CL/cl_ext.h deleted file mode 100644 index 794158389..000000000 --- a/third_party/opencl/include/CL/cl_ext.h +++ /dev/null @@ -1,391 +0,0 @@ -/******************************************************************************* - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - ******************************************************************************/ - -/* $Revision: 11928 $ on $Date: 2010-07-13 09:04:56 -0700 (Tue, 13 Jul 2010) $ */ - -/* cl_ext.h contains OpenCL extensions which don't have external */ -/* (OpenGL, D3D) dependencies. */ - -#ifndef __CL_EXT_H -#define __CL_EXT_H - -#ifdef __cplusplus -extern "C" { -#endif - -#ifdef __APPLE__ - #include - #include -#else - #include -#endif - -/* cl_khr_fp16 extension - no extension #define since it has no functions */ -#define CL_DEVICE_HALF_FP_CONFIG 0x1033 - -/* Memory object destruction - * - * Apple extension for use to manage externally allocated buffers used with cl_mem objects with CL_MEM_USE_HOST_PTR - * - * Registers a user callback function that will be called when the memory object is deleted and its resources - * freed. Each call to clSetMemObjectCallbackFn registers the specified user callback function on a callback - * stack associated with memobj. The registered user callback functions are called in the reverse order in - * which they were registered. The user callback functions are called and then the memory object is deleted - * and its resources freed. This provides a mechanism for the application (and libraries) using memobj to be - * notified when the memory referenced by host_ptr, specified when the memory object is created and used as - * the storage bits for the memory object, can be reused or freed. - * - * The application may not call CL api's with the cl_mem object passed to the pfn_notify. - * - * Please check for the "cl_APPLE_SetMemObjectDestructor" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS) - * before using. - */ -#define cl_APPLE_SetMemObjectDestructor 1 -cl_int CL_API_ENTRY clSetMemObjectDestructorAPPLE( cl_mem /* memobj */, - void (* /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/), - void * /*user_data */ ) CL_EXT_SUFFIX__VERSION_1_0; - - -/* Context Logging Functions - * - * The next three convenience functions are intended to be used as the pfn_notify parameter to clCreateContext(). - * Please check for the "cl_APPLE_ContextLoggingFunctions" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS) - * before using. - * - * clLogMessagesToSystemLog fowards on all log messages to the Apple System Logger - */ -#define cl_APPLE_ContextLoggingFunctions 1 -extern void CL_API_ENTRY clLogMessagesToSystemLogAPPLE( const char * /* errstr */, - const void * /* private_info */, - size_t /* cb */, - void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0; - -/* clLogMessagesToStdout sends all log messages to the file descriptor stdout */ -extern void CL_API_ENTRY clLogMessagesToStdoutAPPLE( const char * /* errstr */, - const void * /* private_info */, - size_t /* cb */, - void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0; - -/* clLogMessagesToStderr sends all log messages to the file descriptor stderr */ -extern void CL_API_ENTRY clLogMessagesToStderrAPPLE( const char * /* errstr */, - const void * /* private_info */, - size_t /* cb */, - void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0; - - -/************************ -* cl_khr_icd extension * -************************/ -#define cl_khr_icd 1 - -/* cl_platform_info */ -#define CL_PLATFORM_ICD_SUFFIX_KHR 0x0920 - -/* Additional Error Codes */ -#define CL_PLATFORM_NOT_FOUND_KHR -1001 - -extern CL_API_ENTRY cl_int CL_API_CALL -clIcdGetPlatformIDsKHR(cl_uint /* num_entries */, - cl_platform_id * /* platforms */, - cl_uint * /* num_platforms */); - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clIcdGetPlatformIDsKHR_fn)( - cl_uint /* num_entries */, - cl_platform_id * /* platforms */, - cl_uint * /* num_platforms */); - - -/* Extension: cl_khr_image2D_buffer - * - * This extension allows a 2D image to be created from a cl_mem buffer without a copy. - * The type associated with a 2D image created from a buffer in an OpenCL program is image2d_t. - * Both the sampler and sampler-less read_image built-in functions are supported for 2D images - * and 2D images created from a buffer. Similarly, the write_image built-ins are also supported - * for 2D images created from a buffer. - * - * When the 2D image from buffer is created, the client must specify the width, - * height, image format (i.e. channel order and channel data type) and optionally the row pitch - * - * The pitch specified must be a multiple of CL_DEVICE_IMAGE_PITCH_ALIGNMENT pixels. - * The base address of the buffer must be aligned to CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT pixels. - */ - -/************************************* - * cl_khr_initalize_memory extension * - *************************************/ - -#define CL_CONTEXT_MEMORY_INITIALIZE_KHR 0x2030 - - -/************************************** - * cl_khr_terminate_context extension * - **************************************/ - -#define CL_DEVICE_TERMINATE_CAPABILITY_KHR 0x2031 -#define CL_CONTEXT_TERMINATE_KHR 0x2032 - -#define cl_khr_terminate_context 1 -extern CL_API_ENTRY cl_int CL_API_CALL clTerminateContextKHR(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clTerminateContextKHR_fn)(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2; - - -/* - * Extension: cl_khr_spir - * - * This extension adds support to create an OpenCL program object from a - * Standard Portable Intermediate Representation (SPIR) instance - */ - -#define CL_DEVICE_SPIR_VERSIONS 0x40E0 -#define CL_PROGRAM_BINARY_TYPE_INTERMEDIATE 0x40E1 - - -/****************************************** -* cl_nv_device_attribute_query extension * -******************************************/ -/* cl_nv_device_attribute_query extension - no extension #define since it has no functions */ -#define CL_DEVICE_COMPUTE_CAPABILITY_MAJOR_NV 0x4000 -#define CL_DEVICE_COMPUTE_CAPABILITY_MINOR_NV 0x4001 -#define CL_DEVICE_REGISTERS_PER_BLOCK_NV 0x4002 -#define CL_DEVICE_WARP_SIZE_NV 0x4003 -#define CL_DEVICE_GPU_OVERLAP_NV 0x4004 -#define CL_DEVICE_KERNEL_EXEC_TIMEOUT_NV 0x4005 -#define CL_DEVICE_INTEGRATED_MEMORY_NV 0x4006 - -/********************************* -* cl_amd_device_attribute_query * -*********************************/ -#define CL_DEVICE_PROFILING_TIMER_OFFSET_AMD 0x4036 - -/********************************* -* cl_arm_printf extension -*********************************/ -#define CL_PRINTF_CALLBACK_ARM 0x40B0 -#define CL_PRINTF_BUFFERSIZE_ARM 0x40B1 - -#ifdef CL_VERSION_1_1 - /*********************************** - * cl_ext_device_fission extension * - ***********************************/ - #define cl_ext_device_fission 1 - - extern CL_API_ENTRY cl_int CL_API_CALL - clReleaseDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; - - typedef CL_API_ENTRY cl_int - (CL_API_CALL *clReleaseDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; - - extern CL_API_ENTRY cl_int CL_API_CALL - clRetainDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; - - typedef CL_API_ENTRY cl_int - (CL_API_CALL *clRetainDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; - - typedef cl_ulong cl_device_partition_property_ext; - extern CL_API_ENTRY cl_int CL_API_CALL - clCreateSubDevicesEXT( cl_device_id /*in_device*/, - const cl_device_partition_property_ext * /* properties */, - cl_uint /*num_entries*/, - cl_device_id * /*out_devices*/, - cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1; - - typedef CL_API_ENTRY cl_int - ( CL_API_CALL * clCreateSubDevicesEXT_fn)( cl_device_id /*in_device*/, - const cl_device_partition_property_ext * /* properties */, - cl_uint /*num_entries*/, - cl_device_id * /*out_devices*/, - cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1; - - /* cl_device_partition_property_ext */ - #define CL_DEVICE_PARTITION_EQUALLY_EXT 0x4050 - #define CL_DEVICE_PARTITION_BY_COUNTS_EXT 0x4051 - #define CL_DEVICE_PARTITION_BY_NAMES_EXT 0x4052 - #define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN_EXT 0x4053 - - /* clDeviceGetInfo selectors */ - #define CL_DEVICE_PARENT_DEVICE_EXT 0x4054 - #define CL_DEVICE_PARTITION_TYPES_EXT 0x4055 - #define CL_DEVICE_AFFINITY_DOMAINS_EXT 0x4056 - #define CL_DEVICE_REFERENCE_COUNT_EXT 0x4057 - #define CL_DEVICE_PARTITION_STYLE_EXT 0x4058 - - /* error codes */ - #define CL_DEVICE_PARTITION_FAILED_EXT -1057 - #define CL_INVALID_PARTITION_COUNT_EXT -1058 - #define CL_INVALID_PARTITION_NAME_EXT -1059 - - /* CL_AFFINITY_DOMAINs */ - #define CL_AFFINITY_DOMAIN_L1_CACHE_EXT 0x1 - #define CL_AFFINITY_DOMAIN_L2_CACHE_EXT 0x2 - #define CL_AFFINITY_DOMAIN_L3_CACHE_EXT 0x3 - #define CL_AFFINITY_DOMAIN_L4_CACHE_EXT 0x4 - #define CL_AFFINITY_DOMAIN_NUMA_EXT 0x10 - #define CL_AFFINITY_DOMAIN_NEXT_FISSIONABLE_EXT 0x100 - - /* cl_device_partition_property_ext list terminators */ - #define CL_PROPERTIES_LIST_END_EXT ((cl_device_partition_property_ext) 0) - #define CL_PARTITION_BY_COUNTS_LIST_END_EXT ((cl_device_partition_property_ext) 0) - #define CL_PARTITION_BY_NAMES_LIST_END_EXT ((cl_device_partition_property_ext) 0 - 1) - -/********************************* -* cl_qcom_ext_host_ptr extension -*********************************/ - -#define CL_MEM_EXT_HOST_PTR_QCOM (1 << 29) - -#define CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM 0x40A0 -#define CL_DEVICE_PAGE_SIZE_QCOM 0x40A1 -#define CL_IMAGE_ROW_ALIGNMENT_QCOM 0x40A2 -#define CL_IMAGE_SLICE_ALIGNMENT_QCOM 0x40A3 -#define CL_MEM_HOST_UNCACHED_QCOM 0x40A4 -#define CL_MEM_HOST_WRITEBACK_QCOM 0x40A5 -#define CL_MEM_HOST_WRITETHROUGH_QCOM 0x40A6 -#define CL_MEM_HOST_WRITE_COMBINING_QCOM 0x40A7 - -typedef cl_uint cl_image_pitch_info_qcom; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetDeviceImageInfoQCOM(cl_device_id device, - size_t image_width, - size_t image_height, - const cl_image_format *image_format, - cl_image_pitch_info_qcom param_name, - size_t param_value_size, - void *param_value, - size_t *param_value_size_ret); - -typedef struct _cl_mem_ext_host_ptr -{ - /* Type of external memory allocation. */ - /* Legal values will be defined in layered extensions. */ - cl_uint allocation_type; - - /* Host cache policy for this external memory allocation. */ - cl_uint host_cache_policy; - -} cl_mem_ext_host_ptr; - -/********************************* -* cl_qcom_ion_host_ptr extension -*********************************/ - -#define CL_MEM_ION_HOST_PTR_QCOM 0x40A8 - -typedef struct _cl_mem_ion_host_ptr -{ - /* Type of external memory allocation. */ - /* Must be CL_MEM_ION_HOST_PTR_QCOM for ION allocations. */ - cl_mem_ext_host_ptr ext_host_ptr; - - /* ION file descriptor */ - int ion_filedesc; - - /* Host pointer to the ION allocated memory */ - void* ion_hostptr; - -} cl_mem_ion_host_ptr; - -#endif /* CL_VERSION_1_1 */ - - -#ifdef CL_VERSION_2_0 -/********************************* -* cl_khr_sub_groups extension -*********************************/ -#define cl_khr_sub_groups 1 - -typedef cl_uint cl_kernel_sub_group_info_khr; - -/* cl_khr_sub_group_info */ -#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE_KHR 0x2033 -#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE_KHR 0x2034 - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetKernelSubGroupInfoKHR(cl_kernel /* in_kernel */, - cl_device_id /*in_device*/, - cl_kernel_sub_group_info_khr /* param_name */, - size_t /*input_value_size*/, - const void * /*input_value*/, - size_t /*param_value_size*/, - void* /*param_value*/, - size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED; - -typedef CL_API_ENTRY cl_int - ( CL_API_CALL * clGetKernelSubGroupInfoKHR_fn)(cl_kernel /* in_kernel */, - cl_device_id /*in_device*/, - cl_kernel_sub_group_info_khr /* param_name */, - size_t /*input_value_size*/, - const void * /*input_value*/, - size_t /*param_value_size*/, - void* /*param_value*/, - size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED; -#endif /* CL_VERSION_2_0 */ - -#ifdef CL_VERSION_2_1 -/********************************* -* cl_khr_priority_hints extension -*********************************/ -#define cl_khr_priority_hints 1 - -typedef cl_uint cl_queue_priority_khr; - -/* cl_command_queue_properties */ -#define CL_QUEUE_PRIORITY_KHR 0x1096 - -/* cl_queue_priority_khr */ -#define CL_QUEUE_PRIORITY_HIGH_KHR (1<<0) -#define CL_QUEUE_PRIORITY_MED_KHR (1<<1) -#define CL_QUEUE_PRIORITY_LOW_KHR (1<<2) - -#endif /* CL_VERSION_2_1 */ - -#ifdef CL_VERSION_2_1 -/********************************* -* cl_khr_throttle_hints extension -*********************************/ -#define cl_khr_throttle_hints 1 - -typedef cl_uint cl_queue_throttle_khr; - -/* cl_command_queue_properties */ -#define CL_QUEUE_THROTTLE_KHR 0x1097 - -/* cl_queue_throttle_khr */ -#define CL_QUEUE_THROTTLE_HIGH_KHR (1<<0) -#define CL_QUEUE_THROTTLE_MED_KHR (1<<1) -#define CL_QUEUE_THROTTLE_LOW_KHR (1<<2) - -#endif /* CL_VERSION_2_1 */ - -#ifdef __cplusplus -} -#endif - - -#endif /* __CL_EXT_H */ diff --git a/third_party/opencl/include/CL/cl_ext_qcom.h b/third_party/opencl/include/CL/cl_ext_qcom.h deleted file mode 100644 index 6328a1cd9..000000000 --- a/third_party/opencl/include/CL/cl_ext_qcom.h +++ /dev/null @@ -1,255 +0,0 @@ -/* Copyright (c) 2009-2017 Qualcomm Technologies, Inc. All Rights Reserved. - * Qualcomm Technologies Proprietary and Confidential. - */ - -#ifndef __OPENCL_CL_EXT_QCOM_H -#define __OPENCL_CL_EXT_QCOM_H - -// Needed by cl_khr_egl_event extension -#include -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - - -/************************************ - * cl_qcom_create_buffer_from_image * - ************************************/ - -#define CL_BUFFER_FROM_IMAGE_ROW_PITCH_QCOM 0x40C0 -#define CL_BUFFER_FROM_IMAGE_SLICE_PITCH_QCOM 0x40C1 - -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreateBufferFromImageQCOM(cl_mem image, - cl_mem_flags flags, - cl_int *errcode_ret); - - -/************************************ - * cl_qcom_limited_printf extension * - ************************************/ - -/* Builtin printf function buffer size in bytes. */ -#define CL_DEVICE_PRINTF_BUFFER_SIZE_QCOM 0x1049 - - -/************************************* - * cl_qcom_extended_images extension * - *************************************/ - -#define CL_CONTEXT_ENABLE_EXTENDED_IMAGES_QCOM 0x40AA -#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_WIDTH_QCOM 0x40AB -#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_HEIGHT_QCOM 0x40AC -#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_WIDTH_QCOM 0x40AD -#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_HEIGHT_QCOM 0x40AE -#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_DEPTH_QCOM 0x40AF - -/************************************* - * cl_qcom_perf_hint extension * - *************************************/ - -typedef cl_uint cl_perf_hint; - -#define CL_CONTEXT_PERF_HINT_QCOM 0x40C2 - -/*cl_perf_hint*/ -#define CL_PERF_HINT_HIGH_QCOM 0x40C3 -#define CL_PERF_HINT_NORMAL_QCOM 0x40C4 -#define CL_PERF_HINT_LOW_QCOM 0x40C5 - -extern CL_API_ENTRY cl_int CL_API_CALL -clSetPerfHintQCOM(cl_context context, - cl_perf_hint perf_hint); - -// This extension is published at Khronos, so its definitions are made in cl_ext.h. -// This duplication is for backward compatibility. - -#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM - -/********************************* -* cl_qcom_android_native_buffer_host_ptr extension -*********************************/ - -#define CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM 0x40C6 - - -typedef struct _cl_mem_android_native_buffer_host_ptr -{ - // Type of external memory allocation. - // Must be CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM for Android native buffers. - cl_mem_ext_host_ptr ext_host_ptr; - - // Virtual pointer to the android native buffer - void* anb_ptr; - -} cl_mem_android_native_buffer_host_ptr; - -#endif //#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM - -/*********************************** -* cl_img_egl_image extension * -************************************/ -typedef void* CLeglImageIMG; -typedef void* CLeglDisplayIMG; - -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreateFromEGLImageIMG(cl_context context, - cl_mem_flags flags, - CLeglImageIMG image, - CLeglDisplayIMG display, - cl_int *errcode_ret); - - -/********************************* -* cl_qcom_other_image extension -*********************************/ - -// Extended flag for creating/querying QCOM non-standard images -#define CL_MEM_OTHER_IMAGE_QCOM (1<<25) - -// cl_channel_type -#define CL_QCOM_UNORM_MIPI10 0x4159 -#define CL_QCOM_UNORM_MIPI12 0x415A -#define CL_QCOM_UNSIGNED_MIPI10 0x415B -#define CL_QCOM_UNSIGNED_MIPI12 0x415C -#define CL_QCOM_UNORM_INT10 0x415D -#define CL_QCOM_UNORM_INT12 0x415E -#define CL_QCOM_UNSIGNED_INT16 0x415F - -// cl_channel_order -// Dedicate 0x4130-0x415F range for QCOM extended image formats -// 0x4130 - 0x4132 range is assigned to pixel-oriented compressed format -#define CL_QCOM_BAYER 0x414E - -#define CL_QCOM_NV12 0x4133 -#define CL_QCOM_NV12_Y 0x4134 -#define CL_QCOM_NV12_UV 0x4135 - -#define CL_QCOM_TILED_NV12 0x4136 -#define CL_QCOM_TILED_NV12_Y 0x4137 -#define CL_QCOM_TILED_NV12_UV 0x4138 - -#define CL_QCOM_P010 0x413C -#define CL_QCOM_P010_Y 0x413D -#define CL_QCOM_P010_UV 0x413E - -#define CL_QCOM_TILED_P010 0x413F -#define CL_QCOM_TILED_P010_Y 0x4140 -#define CL_QCOM_TILED_P010_UV 0x4141 - - -#define CL_QCOM_TP10 0x4145 -#define CL_QCOM_TP10_Y 0x4146 -#define CL_QCOM_TP10_UV 0x4147 - -#define CL_QCOM_TILED_TP10 0x4148 -#define CL_QCOM_TILED_TP10_Y 0x4149 -#define CL_QCOM_TILED_TP10_UV 0x414A - -/********************************* -* cl_qcom_compressed_image extension -*********************************/ - -// Extended flag for creating/querying QCOM non-planar compressed images -#define CL_MEM_COMPRESSED_IMAGE_QCOM (1<<27) - -// Extended image format -// cl_channel_order -#define CL_QCOM_COMPRESSED_RGBA 0x4130 -#define CL_QCOM_COMPRESSED_RGBx 0x4131 - -#define CL_QCOM_COMPRESSED_NV12_Y 0x413A -#define CL_QCOM_COMPRESSED_NV12_UV 0x413B - -#define CL_QCOM_COMPRESSED_P010 0x4142 -#define CL_QCOM_COMPRESSED_P010_Y 0x4143 -#define CL_QCOM_COMPRESSED_P010_UV 0x4144 - -#define CL_QCOM_COMPRESSED_TP10 0x414B -#define CL_QCOM_COMPRESSED_TP10_Y 0x414C -#define CL_QCOM_COMPRESSED_TP10_UV 0x414D - -#define CL_QCOM_COMPRESSED_NV12_4R 0x414F -#define CL_QCOM_COMPRESSED_NV12_4R_Y 0x4150 -#define CL_QCOM_COMPRESSED_NV12_4R_UV 0x4151 -/********************************* -* cl_qcom_compressed_yuv_image_read extension -*********************************/ - -// Extended flag for creating/querying QCOM compressed images -#define CL_MEM_COMPRESSED_YUV_IMAGE_QCOM (1<<28) - -// Extended image format -#define CL_QCOM_COMPRESSED_NV12 0x10C4 - -// Extended flag for setting ION buffer allocation type -#define CL_MEM_ION_HOST_PTR_COMPRESSED_YUV_QCOM 0x40CD -#define CL_MEM_ION_HOST_PTR_PROTECTED_COMPRESSED_YUV_QCOM 0x40CE - -/********************************* -* cl_qcom_accelerated_image_ops -*********************************/ -#define CL_MEM_OBJECT_WEIGHT_IMAGE_QCOM 0x4110 -#define CL_DEVICE_HOF_MAX_NUM_PHASES_QCOM 0x4111 -#define CL_DEVICE_HOF_MAX_FILTER_SIZE_X_QCOM 0x4112 -#define CL_DEVICE_HOF_MAX_FILTER_SIZE_Y_QCOM 0x4113 -#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_X_QCOM 0x4114 -#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_Y_QCOM 0x4115 - -//Extended flag for specifying weight image type -#define CL_WEIGHT_IMAGE_SEPARABLE_QCOM (1<<0) - -// Box Filter -typedef struct _cl_box_filter_size_qcom -{ - // Width of box filter on X direction. - float box_filter_width; - - // Height of box filter on Y direction. - float box_filter_height; -} cl_box_filter_size_qcom; - -// HOF Weight Image Desc -typedef struct _cl_weight_desc_qcom -{ - /** Coordinate of the "center" point of the weight image, - based on the weight image's top-left corner as the origin. */ - size_t center_coord_x; - size_t center_coord_y; - cl_bitfield flags; -} cl_weight_desc_qcom; - -typedef struct _cl_weight_image_desc_qcom -{ - cl_image_desc image_desc; - cl_weight_desc_qcom weight_desc; -} cl_weight_image_desc_qcom; - -/************************************* - * cl_qcom_protected_context extension * - *************************************/ - -#define CL_CONTEXT_PROTECTED_QCOM 0x40C7 -#define CL_MEM_ION_HOST_PTR_PROTECTED_QCOM 0x40C8 - -/************************************* - * cl_qcom_priority_hint extension * - *************************************/ -#define CL_PRIORITY_HINT_NONE_QCOM 0 -typedef cl_uint cl_priority_hint; - -#define CL_CONTEXT_PRIORITY_HINT_QCOM 0x40C9 - -/*cl_priority_hint*/ -#define CL_PRIORITY_HINT_HIGH_QCOM 0x40CA -#define CL_PRIORITY_HINT_NORMAL_QCOM 0x40CB -#define CL_PRIORITY_HINT_LOW_QCOM 0x40CC - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_CL_EXT_QCOM_H */ diff --git a/third_party/opencl/include/CL/cl_gl.h b/third_party/opencl/include/CL/cl_gl.h deleted file mode 100644 index 945daa83d..000000000 --- a/third_party/opencl/include/CL/cl_gl.h +++ /dev/null @@ -1,167 +0,0 @@ -/********************************************************************************** - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - **********************************************************************************/ - -#ifndef __OPENCL_CL_GL_H -#define __OPENCL_CL_GL_H - -#ifdef __APPLE__ -#include -#else -#include -#endif - -#ifdef __cplusplus -extern "C" { -#endif - -typedef cl_uint cl_gl_object_type; -typedef cl_uint cl_gl_texture_info; -typedef cl_uint cl_gl_platform_info; -typedef struct __GLsync *cl_GLsync; - -/* cl_gl_object_type = 0x2000 - 0x200F enum values are currently taken */ -#define CL_GL_OBJECT_BUFFER 0x2000 -#define CL_GL_OBJECT_TEXTURE2D 0x2001 -#define CL_GL_OBJECT_TEXTURE3D 0x2002 -#define CL_GL_OBJECT_RENDERBUFFER 0x2003 -#define CL_GL_OBJECT_TEXTURE2D_ARRAY 0x200E -#define CL_GL_OBJECT_TEXTURE1D 0x200F -#define CL_GL_OBJECT_TEXTURE1D_ARRAY 0x2010 -#define CL_GL_OBJECT_TEXTURE_BUFFER 0x2011 - -/* cl_gl_texture_info */ -#define CL_GL_TEXTURE_TARGET 0x2004 -#define CL_GL_MIPMAP_LEVEL 0x2005 -#define CL_GL_NUM_SAMPLES 0x2012 - - -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreateFromGLBuffer(cl_context /* context */, - cl_mem_flags /* flags */, - cl_GLuint /* bufobj */, - int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreateFromGLTexture(cl_context /* context */, - cl_mem_flags /* flags */, - cl_GLenum /* target */, - cl_GLint /* miplevel */, - cl_GLuint /* texture */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreateFromGLRenderbuffer(cl_context /* context */, - cl_mem_flags /* flags */, - cl_GLuint /* renderbuffer */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetGLObjectInfo(cl_mem /* memobj */, - cl_gl_object_type * /* gl_object_type */, - cl_GLuint * /* gl_object_name */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetGLTextureInfo(cl_mem /* memobj */, - cl_gl_texture_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueAcquireGLObjects(cl_command_queue /* command_queue */, - cl_uint /* num_objects */, - const cl_mem * /* mem_objects */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueReleaseGLObjects(cl_command_queue /* command_queue */, - cl_uint /* num_objects */, - const cl_mem * /* mem_objects */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - - -/* Deprecated OpenCL 1.1 APIs */ -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL -clCreateFromGLTexture2D(cl_context /* context */, - cl_mem_flags /* flags */, - cl_GLenum /* target */, - cl_GLint /* miplevel */, - cl_GLuint /* texture */, - cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL -clCreateFromGLTexture3D(cl_context /* context */, - cl_mem_flags /* flags */, - cl_GLenum /* target */, - cl_GLint /* miplevel */, - cl_GLuint /* texture */, - cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -/* cl_khr_gl_sharing extension */ - -#define cl_khr_gl_sharing 1 - -typedef cl_uint cl_gl_context_info; - -/* Additional Error Codes */ -#define CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR -1000 - -/* cl_gl_context_info */ -#define CL_CURRENT_DEVICE_FOR_GL_CONTEXT_KHR 0x2006 -#define CL_DEVICES_FOR_GL_CONTEXT_KHR 0x2007 - -/* Additional cl_context_properties */ -#define CL_GL_CONTEXT_KHR 0x2008 -#define CL_EGL_DISPLAY_KHR 0x2009 -#define CL_GLX_DISPLAY_KHR 0x200A -#define CL_WGL_HDC_KHR 0x200B -#define CL_CGL_SHAREGROUP_KHR 0x200C - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetGLContextInfoKHR(const cl_context_properties * /* properties */, - cl_gl_context_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetGLContextInfoKHR_fn)( - const cl_context_properties * properties, - cl_gl_context_info param_name, - size_t param_value_size, - void * param_value, - size_t * param_value_size_ret); - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_CL_GL_H */ diff --git a/third_party/opencl/include/CL/cl_gl_ext.h b/third_party/opencl/include/CL/cl_gl_ext.h deleted file mode 100644 index e3c14c640..000000000 --- a/third_party/opencl/include/CL/cl_gl_ext.h +++ /dev/null @@ -1,74 +0,0 @@ -/********************************************************************************** - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - **********************************************************************************/ - -/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ - -/* cl_gl_ext.h contains vendor (non-KHR) OpenCL extensions which have */ -/* OpenGL dependencies. */ - -#ifndef __OPENCL_CL_GL_EXT_H -#define __OPENCL_CL_GL_EXT_H - -#ifdef __cplusplus -extern "C" { -#endif - -#ifdef __APPLE__ - #include -#else - #include -#endif - -/* - * For each extension, follow this template - * cl_VEN_extname extension */ -/* #define cl_VEN_extname 1 - * ... define new types, if any - * ... define new tokens, if any - * ... define new APIs, if any - * - * If you need GLtypes here, mirror them with a cl_GLtype, rather than including a GL header - * This allows us to avoid having to decide whether to include GL headers or GLES here. - */ - -/* - * cl_khr_gl_event extension - * See section 9.9 in the OpenCL 1.1 spec for more information - */ -#define CL_COMMAND_GL_FENCE_SYNC_OBJECT_KHR 0x200D - -extern CL_API_ENTRY cl_event CL_API_CALL -clCreateEventFromGLsyncKHR(cl_context /* context */, - cl_GLsync /* cl_GLsync */, - cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1; - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_CL_GL_EXT_H */ diff --git a/third_party/opencl/include/CL/cl_platform.h b/third_party/opencl/include/CL/cl_platform.h deleted file mode 100644 index 4e334a291..000000000 --- a/third_party/opencl/include/CL/cl_platform.h +++ /dev/null @@ -1,1333 +0,0 @@ -/********************************************************************************** - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - **********************************************************************************/ - -/* $Revision: 11803 $ on $Date: 2010-06-25 10:02:12 -0700 (Fri, 25 Jun 2010) $ */ - -#ifndef __CL_PLATFORM_H -#define __CL_PLATFORM_H - -#ifdef __APPLE__ - /* Contains #defines for AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER below */ - #include -#endif - -#ifdef __cplusplus -extern "C" { -#endif - -#if defined(_WIN32) - #define CL_API_ENTRY - #define CL_API_CALL __stdcall - #define CL_CALLBACK __stdcall -#else - #define CL_API_ENTRY - #define CL_API_CALL - #define CL_CALLBACK -#endif - -/* - * Deprecation flags refer to the last version of the header in which the - * feature was not deprecated. - * - * E.g. VERSION_1_1_DEPRECATED means the feature is present in 1.1 without - * deprecation but is deprecated in versions later than 1.1. - */ - -#ifdef __APPLE__ - #define CL_EXTENSION_WEAK_LINK __attribute__((weak_import)) - #define CL_API_SUFFIX__VERSION_1_0 AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER - #define CL_EXT_SUFFIX__VERSION_1_0 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER - #define CL_API_SUFFIX__VERSION_1_1 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER - #define GCL_API_SUFFIX__VERSION_1_1 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER - #define CL_EXT_SUFFIX__VERSION_1_1 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER - #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER_BUT_DEPRECATED_IN_MAC_OS_X_VERSION_10_7 - - #ifdef AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER - #define CL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER - #define GCL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER - #define CL_EXT_SUFFIX__VERSION_1_2 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER - #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED - #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER_BUT_DEPRECATED_IN_MAC_OS_X_VERSION_10_8 - #else - #warning This path should never happen outside of internal operating system development. AvailabilityMacros do not function correctly here! - #define CL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER - #define GCL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER - #define CL_EXT_SUFFIX__VERSION_1_2 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER - #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER - #endif -#else - #define CL_EXTENSION_WEAK_LINK - #define CL_API_SUFFIX__VERSION_1_0 - #define CL_EXT_SUFFIX__VERSION_1_0 - #define CL_API_SUFFIX__VERSION_1_1 - #define CL_EXT_SUFFIX__VERSION_1_1 - #define CL_API_SUFFIX__VERSION_1_2 - #define CL_EXT_SUFFIX__VERSION_1_2 - #define CL_API_SUFFIX__VERSION_2_0 - #define CL_EXT_SUFFIX__VERSION_2_0 - #define CL_API_SUFFIX__VERSION_2_1 - #define CL_EXT_SUFFIX__VERSION_2_1 - - #ifdef __GNUC__ - #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS - #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED __attribute__((deprecated)) - #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED - #endif - - #ifdef CL_USE_DEPRECATED_OPENCL_1_1_APIS - #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED __attribute__((deprecated)) - #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED - #endif - - #ifdef CL_USE_DEPRECATED_OPENCL_1_2_APIS - #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED __attribute__((deprecated)) - #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED - #endif - - #ifdef CL_USE_DEPRECATED_OPENCL_2_0_APIS - #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED __attribute__((deprecated)) - #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED - #endif - #elif _WIN32 - #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS - #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED __declspec(deprecated) - #endif - - #ifdef CL_USE_DEPRECATED_OPENCL_1_1_APIS - #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED __declspec(deprecated) - #endif - - #ifdef CL_USE_DEPRECATED_OPENCL_1_2_APIS - #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED __declspec(deprecated) - #endif - - #ifdef CL_USE_DEPRECATED_OPENCL_2_0_APIS - #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED __declspec(deprecated) - #endif - #else - #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED - - #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED - - #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED - - #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED - #endif -#endif - -#if (defined (_WIN32) && defined(_MSC_VER)) - -/* scalar types */ -typedef signed __int8 cl_char; -typedef unsigned __int8 cl_uchar; -typedef signed __int16 cl_short; -typedef unsigned __int16 cl_ushort; -typedef signed __int32 cl_int; -typedef unsigned __int32 cl_uint; -typedef signed __int64 cl_long; -typedef unsigned __int64 cl_ulong; - -typedef unsigned __int16 cl_half; -typedef float cl_float; -typedef double cl_double; - -/* Macro names and corresponding values defined by OpenCL */ -#define CL_CHAR_BIT 8 -#define CL_SCHAR_MAX 127 -#define CL_SCHAR_MIN (-127-1) -#define CL_CHAR_MAX CL_SCHAR_MAX -#define CL_CHAR_MIN CL_SCHAR_MIN -#define CL_UCHAR_MAX 255 -#define CL_SHRT_MAX 32767 -#define CL_SHRT_MIN (-32767-1) -#define CL_USHRT_MAX 65535 -#define CL_INT_MAX 2147483647 -#define CL_INT_MIN (-2147483647-1) -#define CL_UINT_MAX 0xffffffffU -#define CL_LONG_MAX ((cl_long) 0x7FFFFFFFFFFFFFFFLL) -#define CL_LONG_MIN ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL) -#define CL_ULONG_MAX ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL) - -#define CL_FLT_DIG 6 -#define CL_FLT_MANT_DIG 24 -#define CL_FLT_MAX_10_EXP +38 -#define CL_FLT_MAX_EXP +128 -#define CL_FLT_MIN_10_EXP -37 -#define CL_FLT_MIN_EXP -125 -#define CL_FLT_RADIX 2 -#define CL_FLT_MAX 340282346638528859811704183484516925440.0f -#define CL_FLT_MIN 1.175494350822287507969e-38f -#define CL_FLT_EPSILON 0x1.0p-23f - -#define CL_DBL_DIG 15 -#define CL_DBL_MANT_DIG 53 -#define CL_DBL_MAX_10_EXP +308 -#define CL_DBL_MAX_EXP +1024 -#define CL_DBL_MIN_10_EXP -307 -#define CL_DBL_MIN_EXP -1021 -#define CL_DBL_RADIX 2 -#define CL_DBL_MAX 179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.0 -#define CL_DBL_MIN 2.225073858507201383090e-308 -#define CL_DBL_EPSILON 2.220446049250313080847e-16 - -#define CL_M_E 2.718281828459045090796 -#define CL_M_LOG2E 1.442695040888963387005 -#define CL_M_LOG10E 0.434294481903251816668 -#define CL_M_LN2 0.693147180559945286227 -#define CL_M_LN10 2.302585092994045901094 -#define CL_M_PI 3.141592653589793115998 -#define CL_M_PI_2 1.570796326794896557999 -#define CL_M_PI_4 0.785398163397448278999 -#define CL_M_1_PI 0.318309886183790691216 -#define CL_M_2_PI 0.636619772367581382433 -#define CL_M_2_SQRTPI 1.128379167095512558561 -#define CL_M_SQRT2 1.414213562373095145475 -#define CL_M_SQRT1_2 0.707106781186547572737 - -#define CL_M_E_F 2.71828174591064f -#define CL_M_LOG2E_F 1.44269502162933f -#define CL_M_LOG10E_F 0.43429449200630f -#define CL_M_LN2_F 0.69314718246460f -#define CL_M_LN10_F 2.30258512496948f -#define CL_M_PI_F 3.14159274101257f -#define CL_M_PI_2_F 1.57079637050629f -#define CL_M_PI_4_F 0.78539818525314f -#define CL_M_1_PI_F 0.31830987334251f -#define CL_M_2_PI_F 0.63661974668503f -#define CL_M_2_SQRTPI_F 1.12837922573090f -#define CL_M_SQRT2_F 1.41421353816986f -#define CL_M_SQRT1_2_F 0.70710676908493f - -#define CL_NAN (CL_INFINITY - CL_INFINITY) -#define CL_HUGE_VALF ((cl_float) 1e50) -#define CL_HUGE_VAL ((cl_double) 1e500) -#define CL_MAXFLOAT CL_FLT_MAX -#define CL_INFINITY CL_HUGE_VALF - -#else - -#include - -/* scalar types */ -typedef int8_t cl_char; -typedef uint8_t cl_uchar; -typedef int16_t cl_short __attribute__((aligned(2))); -typedef uint16_t cl_ushort __attribute__((aligned(2))); -typedef int32_t cl_int __attribute__((aligned(4))); -typedef uint32_t cl_uint __attribute__((aligned(4))); -typedef int64_t cl_long __attribute__((aligned(8))); -typedef uint64_t cl_ulong __attribute__((aligned(8))); - -typedef uint16_t cl_half __attribute__((aligned(2))); -typedef float cl_float __attribute__((aligned(4))); -typedef double cl_double __attribute__((aligned(8))); - -/* Macro names and corresponding values defined by OpenCL */ -#define CL_CHAR_BIT 8 -#define CL_SCHAR_MAX 127 -#define CL_SCHAR_MIN (-127-1) -#define CL_CHAR_MAX CL_SCHAR_MAX -#define CL_CHAR_MIN CL_SCHAR_MIN -#define CL_UCHAR_MAX 255 -#define CL_SHRT_MAX 32767 -#define CL_SHRT_MIN (-32767-1) -#define CL_USHRT_MAX 65535 -#define CL_INT_MAX 2147483647 -#define CL_INT_MIN (-2147483647-1) -#define CL_UINT_MAX 0xffffffffU -#define CL_LONG_MAX ((cl_long) 0x7FFFFFFFFFFFFFFFLL) -#define CL_LONG_MIN ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL) -#define CL_ULONG_MAX ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL) - -#define CL_FLT_DIG 6 -#define CL_FLT_MANT_DIG 24 -#define CL_FLT_MAX_10_EXP +38 -#define CL_FLT_MAX_EXP +128 -#define CL_FLT_MIN_10_EXP -37 -#define CL_FLT_MIN_EXP -125 -#define CL_FLT_RADIX 2 -#define CL_FLT_MAX 0x1.fffffep127f -#define CL_FLT_MIN 0x1.0p-126f -#define CL_FLT_EPSILON 0x1.0p-23f - -#define CL_DBL_DIG 15 -#define CL_DBL_MANT_DIG 53 -#define CL_DBL_MAX_10_EXP +308 -#define CL_DBL_MAX_EXP +1024 -#define CL_DBL_MIN_10_EXP -307 -#define CL_DBL_MIN_EXP -1021 -#define CL_DBL_RADIX 2 -#define CL_DBL_MAX 0x1.fffffffffffffp1023 -#define CL_DBL_MIN 0x1.0p-1022 -#define CL_DBL_EPSILON 0x1.0p-52 - -#define CL_M_E 2.718281828459045090796 -#define CL_M_LOG2E 1.442695040888963387005 -#define CL_M_LOG10E 0.434294481903251816668 -#define CL_M_LN2 0.693147180559945286227 -#define CL_M_LN10 2.302585092994045901094 -#define CL_M_PI 3.141592653589793115998 -#define CL_M_PI_2 1.570796326794896557999 -#define CL_M_PI_4 0.785398163397448278999 -#define CL_M_1_PI 0.318309886183790691216 -#define CL_M_2_PI 0.636619772367581382433 -#define CL_M_2_SQRTPI 1.128379167095512558561 -#define CL_M_SQRT2 1.414213562373095145475 -#define CL_M_SQRT1_2 0.707106781186547572737 - -#define CL_M_E_F 2.71828174591064f -#define CL_M_LOG2E_F 1.44269502162933f -#define CL_M_LOG10E_F 0.43429449200630f -#define CL_M_LN2_F 0.69314718246460f -#define CL_M_LN10_F 2.30258512496948f -#define CL_M_PI_F 3.14159274101257f -#define CL_M_PI_2_F 1.57079637050629f -#define CL_M_PI_4_F 0.78539818525314f -#define CL_M_1_PI_F 0.31830987334251f -#define CL_M_2_PI_F 0.63661974668503f -#define CL_M_2_SQRTPI_F 1.12837922573090f -#define CL_M_SQRT2_F 1.41421353816986f -#define CL_M_SQRT1_2_F 0.70710676908493f - -#if defined( __GNUC__ ) - #define CL_HUGE_VALF __builtin_huge_valf() - #define CL_HUGE_VAL __builtin_huge_val() - #define CL_NAN __builtin_nanf( "" ) -#else - #define CL_HUGE_VALF ((cl_float) 1e50) - #define CL_HUGE_VAL ((cl_double) 1e500) - float nanf( const char * ); - #define CL_NAN nanf( "" ) -#endif -#define CL_MAXFLOAT CL_FLT_MAX -#define CL_INFINITY CL_HUGE_VALF - -#endif - -#include - -/* Mirror types to GL types. Mirror types allow us to avoid deciding which 87s to load based on whether we are using GL or GLES here. */ -typedef unsigned int cl_GLuint; -typedef int cl_GLint; -typedef unsigned int cl_GLenum; - -/* - * Vector types - * - * Note: OpenCL requires that all types be naturally aligned. - * This means that vector types must be naturally aligned. - * For example, a vector of four floats must be aligned to - * a 16 byte boundary (calculated as 4 * the natural 4-byte - * alignment of the float). The alignment qualifiers here - * will only function properly if your compiler supports them - * and if you don't actively work to defeat them. For example, - * in order for a cl_float4 to be 16 byte aligned in a struct, - * the start of the struct must itself be 16-byte aligned. - * - * Maintaining proper alignment is the user's responsibility. - */ - -/* Define basic vector types */ -#if defined( __VEC__ ) - #include /* may be omitted depending on compiler. AltiVec spec provides no way to detect whether the header is required. */ - typedef vector unsigned char __cl_uchar16; - typedef vector signed char __cl_char16; - typedef vector unsigned short __cl_ushort8; - typedef vector signed short __cl_short8; - typedef vector unsigned int __cl_uint4; - typedef vector signed int __cl_int4; - typedef vector float __cl_float4; - #define __CL_UCHAR16__ 1 - #define __CL_CHAR16__ 1 - #define __CL_USHORT8__ 1 - #define __CL_SHORT8__ 1 - #define __CL_UINT4__ 1 - #define __CL_INT4__ 1 - #define __CL_FLOAT4__ 1 -#endif - -#if defined( __SSE__ ) - #if defined( __MINGW64__ ) - #include - #else - #include - #endif - #if defined( __GNUC__ ) - typedef float __cl_float4 __attribute__((vector_size(16))); - #else - typedef __m128 __cl_float4; - #endif - #define __CL_FLOAT4__ 1 -#endif - -#if defined( __SSE2__ ) - #if defined( __MINGW64__ ) - #include - #else - #include - #endif - #if defined( __GNUC__ ) - typedef cl_uchar __cl_uchar16 __attribute__((vector_size(16))); - typedef cl_char __cl_char16 __attribute__((vector_size(16))); - typedef cl_ushort __cl_ushort8 __attribute__((vector_size(16))); - typedef cl_short __cl_short8 __attribute__((vector_size(16))); - typedef cl_uint __cl_uint4 __attribute__((vector_size(16))); - typedef cl_int __cl_int4 __attribute__((vector_size(16))); - typedef cl_ulong __cl_ulong2 __attribute__((vector_size(16))); - typedef cl_long __cl_long2 __attribute__((vector_size(16))); - typedef cl_double __cl_double2 __attribute__((vector_size(16))); - #else - typedef __m128i __cl_uchar16; - typedef __m128i __cl_char16; - typedef __m128i __cl_ushort8; - typedef __m128i __cl_short8; - typedef __m128i __cl_uint4; - typedef __m128i __cl_int4; - typedef __m128i __cl_ulong2; - typedef __m128i __cl_long2; - typedef __m128d __cl_double2; - #endif - #define __CL_UCHAR16__ 1 - #define __CL_CHAR16__ 1 - #define __CL_USHORT8__ 1 - #define __CL_SHORT8__ 1 - #define __CL_INT4__ 1 - #define __CL_UINT4__ 1 - #define __CL_ULONG2__ 1 - #define __CL_LONG2__ 1 - #define __CL_DOUBLE2__ 1 -#endif - -#if defined( __MMX__ ) - #include - #if defined( __GNUC__ ) - typedef cl_uchar __cl_uchar8 __attribute__((vector_size(8))); - typedef cl_char __cl_char8 __attribute__((vector_size(8))); - typedef cl_ushort __cl_ushort4 __attribute__((vector_size(8))); - typedef cl_short __cl_short4 __attribute__((vector_size(8))); - typedef cl_uint __cl_uint2 __attribute__((vector_size(8))); - typedef cl_int __cl_int2 __attribute__((vector_size(8))); - typedef cl_ulong __cl_ulong1 __attribute__((vector_size(8))); - typedef cl_long __cl_long1 __attribute__((vector_size(8))); - typedef cl_float __cl_float2 __attribute__((vector_size(8))); - #else - typedef __m64 __cl_uchar8; - typedef __m64 __cl_char8; - typedef __m64 __cl_ushort4; - typedef __m64 __cl_short4; - typedef __m64 __cl_uint2; - typedef __m64 __cl_int2; - typedef __m64 __cl_ulong1; - typedef __m64 __cl_long1; - typedef __m64 __cl_float2; - #endif - #define __CL_UCHAR8__ 1 - #define __CL_CHAR8__ 1 - #define __CL_USHORT4__ 1 - #define __CL_SHORT4__ 1 - #define __CL_INT2__ 1 - #define __CL_UINT2__ 1 - #define __CL_ULONG1__ 1 - #define __CL_LONG1__ 1 - #define __CL_FLOAT2__ 1 -#endif - -#if defined( __AVX__ ) - #if defined( __MINGW64__ ) - #include - #else - #include - #endif - #if defined( __GNUC__ ) - typedef cl_float __cl_float8 __attribute__((vector_size(32))); - typedef cl_double __cl_double4 __attribute__((vector_size(32))); - #else - typedef __m256 __cl_float8; - typedef __m256d __cl_double4; - #endif - #define __CL_FLOAT8__ 1 - #define __CL_DOUBLE4__ 1 -#endif - -/* Define capabilities for anonymous struct members. */ -#if defined( __GNUC__) && ! defined( __STRICT_ANSI__ ) -#define __CL_HAS_ANON_STRUCT__ 1 -#define __CL_ANON_STRUCT__ __extension__ -#elif defined( _WIN32) && (_MSC_VER >= 1500) - /* Microsoft Developer Studio 2008 supports anonymous structs, but - * complains by default. */ -#define __CL_HAS_ANON_STRUCT__ 1 -#define __CL_ANON_STRUCT__ - /* Disable warning C4201: nonstandard extension used : nameless - * struct/union */ -#pragma warning( push ) -#pragma warning( disable : 4201 ) -#else -#define __CL_HAS_ANON_STRUCT__ 0 -#define __CL_ANON_STRUCT__ -#endif - -/* Define alignment keys */ -#if defined( __GNUC__ ) - #define CL_ALIGNED(_x) __attribute__ ((aligned(_x))) -#elif defined( _WIN32) && (_MSC_VER) - /* Alignment keys neutered on windows because MSVC can't swallow function arguments with alignment requirements */ - /* http://msdn.microsoft.com/en-us/library/373ak2y1%28VS.71%29.aspx */ - /* #include */ - /* #define CL_ALIGNED(_x) _CRT_ALIGN(_x) */ - #define CL_ALIGNED(_x) -#else - #warning Need to implement some method to align data here - #define CL_ALIGNED(_x) -#endif - -/* Indicate whether .xyzw, .s0123 and .hi.lo are supported */ -#if __CL_HAS_ANON_STRUCT__ - /* .xyzw and .s0123...{f|F} are supported */ - #define CL_HAS_NAMED_VECTOR_FIELDS 1 - /* .hi and .lo are supported */ - #define CL_HAS_HI_LO_VECTOR_FIELDS 1 -#endif - -/* Define cl_vector types */ - -/* ---- cl_charn ---- */ -typedef union -{ - cl_char CL_ALIGNED(2) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_char x, y; }; - __CL_ANON_STRUCT__ struct{ cl_char s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_char lo, hi; }; -#endif -#if defined( __CL_CHAR2__) - __cl_char2 v2; -#endif -}cl_char2; - -typedef union -{ - cl_char CL_ALIGNED(4) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_char x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_char s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_char2 lo, hi; }; -#endif -#if defined( __CL_CHAR2__) - __cl_char2 v2[2]; -#endif -#if defined( __CL_CHAR4__) - __cl_char4 v4; -#endif -}cl_char4; - -/* cl_char3 is identical in size, alignment and behavior to cl_char4. See section 6.1.5. */ -typedef cl_char4 cl_char3; - -typedef union -{ - cl_char CL_ALIGNED(8) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_char x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_char s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_char4 lo, hi; }; -#endif -#if defined( __CL_CHAR2__) - __cl_char2 v2[4]; -#endif -#if defined( __CL_CHAR4__) - __cl_char4 v4[2]; -#endif -#if defined( __CL_CHAR8__ ) - __cl_char8 v8; -#endif -}cl_char8; - -typedef union -{ - cl_char CL_ALIGNED(16) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_char x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_char s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_char8 lo, hi; }; -#endif -#if defined( __CL_CHAR2__) - __cl_char2 v2[8]; -#endif -#if defined( __CL_CHAR4__) - __cl_char4 v4[4]; -#endif -#if defined( __CL_CHAR8__ ) - __cl_char8 v8[2]; -#endif -#if defined( __CL_CHAR16__ ) - __cl_char16 v16; -#endif -}cl_char16; - - -/* ---- cl_ucharn ---- */ -typedef union -{ - cl_uchar CL_ALIGNED(2) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uchar x, y; }; - __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_uchar lo, hi; }; -#endif -#if defined( __cl_uchar2__) - __cl_uchar2 v2; -#endif -}cl_uchar2; - -typedef union -{ - cl_uchar CL_ALIGNED(4) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uchar x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_uchar2 lo, hi; }; -#endif -#if defined( __CL_UCHAR2__) - __cl_uchar2 v2[2]; -#endif -#if defined( __CL_UCHAR4__) - __cl_uchar4 v4; -#endif -}cl_uchar4; - -/* cl_uchar3 is identical in size, alignment and behavior to cl_uchar4. See section 6.1.5. */ -typedef cl_uchar4 cl_uchar3; - -typedef union -{ - cl_uchar CL_ALIGNED(8) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uchar x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_uchar4 lo, hi; }; -#endif -#if defined( __CL_UCHAR2__) - __cl_uchar2 v2[4]; -#endif -#if defined( __CL_UCHAR4__) - __cl_uchar4 v4[2]; -#endif -#if defined( __CL_UCHAR8__ ) - __cl_uchar8 v8; -#endif -}cl_uchar8; - -typedef union -{ - cl_uchar CL_ALIGNED(16) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uchar x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_uchar8 lo, hi; }; -#endif -#if defined( __CL_UCHAR2__) - __cl_uchar2 v2[8]; -#endif -#if defined( __CL_UCHAR4__) - __cl_uchar4 v4[4]; -#endif -#if defined( __CL_UCHAR8__ ) - __cl_uchar8 v8[2]; -#endif -#if defined( __CL_UCHAR16__ ) - __cl_uchar16 v16; -#endif -}cl_uchar16; - - -/* ---- cl_shortn ---- */ -typedef union -{ - cl_short CL_ALIGNED(4) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_short x, y; }; - __CL_ANON_STRUCT__ struct{ cl_short s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_short lo, hi; }; -#endif -#if defined( __CL_SHORT2__) - __cl_short2 v2; -#endif -}cl_short2; - -typedef union -{ - cl_short CL_ALIGNED(8) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_short x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_short s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_short2 lo, hi; }; -#endif -#if defined( __CL_SHORT2__) - __cl_short2 v2[2]; -#endif -#if defined( __CL_SHORT4__) - __cl_short4 v4; -#endif -}cl_short4; - -/* cl_short3 is identical in size, alignment and behavior to cl_short4. See section 6.1.5. */ -typedef cl_short4 cl_short3; - -typedef union -{ - cl_short CL_ALIGNED(16) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_short x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_short s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_short4 lo, hi; }; -#endif -#if defined( __CL_SHORT2__) - __cl_short2 v2[4]; -#endif -#if defined( __CL_SHORT4__) - __cl_short4 v4[2]; -#endif -#if defined( __CL_SHORT8__ ) - __cl_short8 v8; -#endif -}cl_short8; - -typedef union -{ - cl_short CL_ALIGNED(32) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_short x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_short s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_short8 lo, hi; }; -#endif -#if defined( __CL_SHORT2__) - __cl_short2 v2[8]; -#endif -#if defined( __CL_SHORT4__) - __cl_short4 v4[4]; -#endif -#if defined( __CL_SHORT8__ ) - __cl_short8 v8[2]; -#endif -#if defined( __CL_SHORT16__ ) - __cl_short16 v16; -#endif -}cl_short16; - - -/* ---- cl_ushortn ---- */ -typedef union -{ - cl_ushort CL_ALIGNED(4) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ushort x, y; }; - __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_ushort lo, hi; }; -#endif -#if defined( __CL_USHORT2__) - __cl_ushort2 v2; -#endif -}cl_ushort2; - -typedef union -{ - cl_ushort CL_ALIGNED(8) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ushort x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_ushort2 lo, hi; }; -#endif -#if defined( __CL_USHORT2__) - __cl_ushort2 v2[2]; -#endif -#if defined( __CL_USHORT4__) - __cl_ushort4 v4; -#endif -}cl_ushort4; - -/* cl_ushort3 is identical in size, alignment and behavior to cl_ushort4. See section 6.1.5. */ -typedef cl_ushort4 cl_ushort3; - -typedef union -{ - cl_ushort CL_ALIGNED(16) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ushort x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_ushort4 lo, hi; }; -#endif -#if defined( __CL_USHORT2__) - __cl_ushort2 v2[4]; -#endif -#if defined( __CL_USHORT4__) - __cl_ushort4 v4[2]; -#endif -#if defined( __CL_USHORT8__ ) - __cl_ushort8 v8; -#endif -}cl_ushort8; - -typedef union -{ - cl_ushort CL_ALIGNED(32) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ushort x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_ushort8 lo, hi; }; -#endif -#if defined( __CL_USHORT2__) - __cl_ushort2 v2[8]; -#endif -#if defined( __CL_USHORT4__) - __cl_ushort4 v4[4]; -#endif -#if defined( __CL_USHORT8__ ) - __cl_ushort8 v8[2]; -#endif -#if defined( __CL_USHORT16__ ) - __cl_ushort16 v16; -#endif -}cl_ushort16; - -/* ---- cl_intn ---- */ -typedef union -{ - cl_int CL_ALIGNED(8) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_int x, y; }; - __CL_ANON_STRUCT__ struct{ cl_int s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_int lo, hi; }; -#endif -#if defined( __CL_INT2__) - __cl_int2 v2; -#endif -}cl_int2; - -typedef union -{ - cl_int CL_ALIGNED(16) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_int x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_int s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_int2 lo, hi; }; -#endif -#if defined( __CL_INT2__) - __cl_int2 v2[2]; -#endif -#if defined( __CL_INT4__) - __cl_int4 v4; -#endif -}cl_int4; - -/* cl_int3 is identical in size, alignment and behavior to cl_int4. See section 6.1.5. */ -typedef cl_int4 cl_int3; - -typedef union -{ - cl_int CL_ALIGNED(32) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_int x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_int s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_int4 lo, hi; }; -#endif -#if defined( __CL_INT2__) - __cl_int2 v2[4]; -#endif -#if defined( __CL_INT4__) - __cl_int4 v4[2]; -#endif -#if defined( __CL_INT8__ ) - __cl_int8 v8; -#endif -}cl_int8; - -typedef union -{ - cl_int CL_ALIGNED(64) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_int x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_int s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_int8 lo, hi; }; -#endif -#if defined( __CL_INT2__) - __cl_int2 v2[8]; -#endif -#if defined( __CL_INT4__) - __cl_int4 v4[4]; -#endif -#if defined( __CL_INT8__ ) - __cl_int8 v8[2]; -#endif -#if defined( __CL_INT16__ ) - __cl_int16 v16; -#endif -}cl_int16; - - -/* ---- cl_uintn ---- */ -typedef union -{ - cl_uint CL_ALIGNED(8) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uint x, y; }; - __CL_ANON_STRUCT__ struct{ cl_uint s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_uint lo, hi; }; -#endif -#if defined( __CL_UINT2__) - __cl_uint2 v2; -#endif -}cl_uint2; - -typedef union -{ - cl_uint CL_ALIGNED(16) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uint x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_uint s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_uint2 lo, hi; }; -#endif -#if defined( __CL_UINT2__) - __cl_uint2 v2[2]; -#endif -#if defined( __CL_UINT4__) - __cl_uint4 v4; -#endif -}cl_uint4; - -/* cl_uint3 is identical in size, alignment and behavior to cl_uint4. See section 6.1.5. */ -typedef cl_uint4 cl_uint3; - -typedef union -{ - cl_uint CL_ALIGNED(32) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uint x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_uint s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_uint4 lo, hi; }; -#endif -#if defined( __CL_UINT2__) - __cl_uint2 v2[4]; -#endif -#if defined( __CL_UINT4__) - __cl_uint4 v4[2]; -#endif -#if defined( __CL_UINT8__ ) - __cl_uint8 v8; -#endif -}cl_uint8; - -typedef union -{ - cl_uint CL_ALIGNED(64) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uint x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_uint s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_uint8 lo, hi; }; -#endif -#if defined( __CL_UINT2__) - __cl_uint2 v2[8]; -#endif -#if defined( __CL_UINT4__) - __cl_uint4 v4[4]; -#endif -#if defined( __CL_UINT8__ ) - __cl_uint8 v8[2]; -#endif -#if defined( __CL_UINT16__ ) - __cl_uint16 v16; -#endif -}cl_uint16; - -/* ---- cl_longn ---- */ -typedef union -{ - cl_long CL_ALIGNED(16) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_long x, y; }; - __CL_ANON_STRUCT__ struct{ cl_long s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_long lo, hi; }; -#endif -#if defined( __CL_LONG2__) - __cl_long2 v2; -#endif -}cl_long2; - -typedef union -{ - cl_long CL_ALIGNED(32) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_long x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_long s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_long2 lo, hi; }; -#endif -#if defined( __CL_LONG2__) - __cl_long2 v2[2]; -#endif -#if defined( __CL_LONG4__) - __cl_long4 v4; -#endif -}cl_long4; - -/* cl_long3 is identical in size, alignment and behavior to cl_long4. See section 6.1.5. */ -typedef cl_long4 cl_long3; - -typedef union -{ - cl_long CL_ALIGNED(64) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_long x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_long s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_long4 lo, hi; }; -#endif -#if defined( __CL_LONG2__) - __cl_long2 v2[4]; -#endif -#if defined( __CL_LONG4__) - __cl_long4 v4[2]; -#endif -#if defined( __CL_LONG8__ ) - __cl_long8 v8; -#endif -}cl_long8; - -typedef union -{ - cl_long CL_ALIGNED(128) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_long x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_long s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_long8 lo, hi; }; -#endif -#if defined( __CL_LONG2__) - __cl_long2 v2[8]; -#endif -#if defined( __CL_LONG4__) - __cl_long4 v4[4]; -#endif -#if defined( __CL_LONG8__ ) - __cl_long8 v8[2]; -#endif -#if defined( __CL_LONG16__ ) - __cl_long16 v16; -#endif -}cl_long16; - - -/* ---- cl_ulongn ---- */ -typedef union -{ - cl_ulong CL_ALIGNED(16) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ulong x, y; }; - __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_ulong lo, hi; }; -#endif -#if defined( __CL_ULONG2__) - __cl_ulong2 v2; -#endif -}cl_ulong2; - -typedef union -{ - cl_ulong CL_ALIGNED(32) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ulong x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_ulong2 lo, hi; }; -#endif -#if defined( __CL_ULONG2__) - __cl_ulong2 v2[2]; -#endif -#if defined( __CL_ULONG4__) - __cl_ulong4 v4; -#endif -}cl_ulong4; - -/* cl_ulong3 is identical in size, alignment and behavior to cl_ulong4. See section 6.1.5. */ -typedef cl_ulong4 cl_ulong3; - -typedef union -{ - cl_ulong CL_ALIGNED(64) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ulong x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_ulong4 lo, hi; }; -#endif -#if defined( __CL_ULONG2__) - __cl_ulong2 v2[4]; -#endif -#if defined( __CL_ULONG4__) - __cl_ulong4 v4[2]; -#endif -#if defined( __CL_ULONG8__ ) - __cl_ulong8 v8; -#endif -}cl_ulong8; - -typedef union -{ - cl_ulong CL_ALIGNED(128) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ulong x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_ulong8 lo, hi; }; -#endif -#if defined( __CL_ULONG2__) - __cl_ulong2 v2[8]; -#endif -#if defined( __CL_ULONG4__) - __cl_ulong4 v4[4]; -#endif -#if defined( __CL_ULONG8__ ) - __cl_ulong8 v8[2]; -#endif -#if defined( __CL_ULONG16__ ) - __cl_ulong16 v16; -#endif -}cl_ulong16; - - -/* --- cl_floatn ---- */ - -typedef union -{ - cl_float CL_ALIGNED(8) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_float x, y; }; - __CL_ANON_STRUCT__ struct{ cl_float s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_float lo, hi; }; -#endif -#if defined( __CL_FLOAT2__) - __cl_float2 v2; -#endif -}cl_float2; - -typedef union -{ - cl_float CL_ALIGNED(16) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_float x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_float s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_float2 lo, hi; }; -#endif -#if defined( __CL_FLOAT2__) - __cl_float2 v2[2]; -#endif -#if defined( __CL_FLOAT4__) - __cl_float4 v4; -#endif -}cl_float4; - -/* cl_float3 is identical in size, alignment and behavior to cl_float4. See section 6.1.5. */ -typedef cl_float4 cl_float3; - -typedef union -{ - cl_float CL_ALIGNED(32) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_float x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_float s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_float4 lo, hi; }; -#endif -#if defined( __CL_FLOAT2__) - __cl_float2 v2[4]; -#endif -#if defined( __CL_FLOAT4__) - __cl_float4 v4[2]; -#endif -#if defined( __CL_FLOAT8__ ) - __cl_float8 v8; -#endif -}cl_float8; - -typedef union -{ - cl_float CL_ALIGNED(64) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_float x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_float s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_float8 lo, hi; }; -#endif -#if defined( __CL_FLOAT2__) - __cl_float2 v2[8]; -#endif -#if defined( __CL_FLOAT4__) - __cl_float4 v4[4]; -#endif -#if defined( __CL_FLOAT8__ ) - __cl_float8 v8[2]; -#endif -#if defined( __CL_FLOAT16__ ) - __cl_float16 v16; -#endif -}cl_float16; - -/* --- cl_doublen ---- */ - -typedef union -{ - cl_double CL_ALIGNED(16) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_double x, y; }; - __CL_ANON_STRUCT__ struct{ cl_double s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_double lo, hi; }; -#endif -#if defined( __CL_DOUBLE2__) - __cl_double2 v2; -#endif -}cl_double2; - -typedef union -{ - cl_double CL_ALIGNED(32) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_double x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_double s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_double2 lo, hi; }; -#endif -#if defined( __CL_DOUBLE2__) - __cl_double2 v2[2]; -#endif -#if defined( __CL_DOUBLE4__) - __cl_double4 v4; -#endif -}cl_double4; - -/* cl_double3 is identical in size, alignment and behavior to cl_double4. See section 6.1.5. */ -typedef cl_double4 cl_double3; - -typedef union -{ - cl_double CL_ALIGNED(64) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_double x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_double s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_double4 lo, hi; }; -#endif -#if defined( __CL_DOUBLE2__) - __cl_double2 v2[4]; -#endif -#if defined( __CL_DOUBLE4__) - __cl_double4 v4[2]; -#endif -#if defined( __CL_DOUBLE8__ ) - __cl_double8 v8; -#endif -}cl_double8; - -typedef union -{ - cl_double CL_ALIGNED(128) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_double x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_double s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_double8 lo, hi; }; -#endif -#if defined( __CL_DOUBLE2__) - __cl_double2 v2[8]; -#endif -#if defined( __CL_DOUBLE4__) - __cl_double4 v4[4]; -#endif -#if defined( __CL_DOUBLE8__ ) - __cl_double8 v8[2]; -#endif -#if defined( __CL_DOUBLE16__ ) - __cl_double16 v16; -#endif -}cl_double16; - -/* Macro to facilitate debugging - * Usage: - * Place CL_PROGRAM_STRING_DEBUG_INFO on the line before the first line of your source. - * The first line ends with: CL_PROGRAM_STRING_DEBUG_INFO \" - * Each line thereafter of OpenCL C source must end with: \n\ - * The last line ends in "; - * - * Example: - * - * const char *my_program = CL_PROGRAM_STRING_DEBUG_INFO "\ - * kernel void foo( int a, float * b ) \n\ - * { \n\ - * // my comment \n\ - * *b[ get_global_id(0)] = a; \n\ - * } \n\ - * "; - * - * This should correctly set up the line, (column) and file information for your source - * string so you can do source level debugging. - */ -#define __CL_STRINGIFY( _x ) # _x -#define _CL_STRINGIFY( _x ) __CL_STRINGIFY( _x ) -#define CL_PROGRAM_STRING_DEBUG_INFO "#line " _CL_STRINGIFY(__LINE__) " \"" __FILE__ "\" \n\n" - -#ifdef __cplusplus -} -#endif - -#undef __CL_HAS_ANON_STRUCT__ -#undef __CL_ANON_STRUCT__ -#if defined( _WIN32) && (_MSC_VER >= 1500) -#pragma warning( pop ) -#endif - -#endif /* __CL_PLATFORM_H */ diff --git a/third_party/opencl/include/CL/opencl.h b/third_party/opencl/include/CL/opencl.h deleted file mode 100644 index 9855cd75e..000000000 --- a/third_party/opencl/include/CL/opencl.h +++ /dev/null @@ -1,59 +0,0 @@ -/******************************************************************************* - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - ******************************************************************************/ - -/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ - -#ifndef __OPENCL_H -#define __OPENCL_H - -#ifdef __cplusplus -extern "C" { -#endif - -#ifdef __APPLE__ - -#include -#include -#include -#include - -#else - -#include -#include -#include -#include - -#endif - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_H */ - diff --git a/tools/bodyteleop/web.py b/tools/bodyteleop/web.py index fd8f691d1..f91d6a144 100644 --- a/tools/bodyteleop/web.py +++ b/tools/bodyteleop/web.py @@ -1,4 +1,3 @@ -import asyncio import dataclasses import json import logging @@ -6,8 +5,6 @@ import os import ssl import subprocess -import pyaudio -import wave from aiohttp import web from aiohttp import ClientSession @@ -22,35 +19,6 @@ TELEOPDIR = f"{BASEDIR}/tools/bodyteleop" WEBRTCD_HOST, WEBRTCD_PORT = "localhost", 5001 -## UTILS -async def play_sound(sound: str): - SOUNDS = { - "engage": "selfdrive/assets/sounds/engage.wav", - "disengage": "selfdrive/assets/sounds/disengage.wav", - "error": "selfdrive/assets/sounds/warning_immediate.wav", - } - assert sound in SOUNDS - - chunk = 5120 - with wave.open(os.path.join(BASEDIR, SOUNDS[sound]), "rb") as wf: - def callback(in_data, frame_count, time_info, status): - data = wf.readframes(frame_count) - return data, pyaudio.paContinue - - p = pyaudio.PyAudio() - stream = p.open(format=p.get_format_from_width(wf.getsampwidth()), - channels=wf.getnchannels(), - rate=wf.getframerate(), - output=True, - frames_per_buffer=chunk, - stream_callback=callback) - stream.start_stream() - while stream.is_active(): - await asyncio.sleep(0) - stream.stop_stream() - stream.close() - p.terminate() - ## SSL def create_ssl_cert(cert_path: str, key_path: str): try: @@ -86,14 +54,6 @@ async def ping(request: 'web.Request'): return web.Response(text="pong") -async def sound(request: 'web.Request'): - params = await request.json() - sound_to_play = params["sound"] - - await play_sound(sound_to_play) - return web.json_response({"status": "ok"}) - - async def offer(request: 'web.Request'): params = await request.json() body = StreamRequestBody(params["sdp"], ["driver"], ["testJoystick"], ["carState"]) @@ -111,14 +71,13 @@ def main(): # Enable joystick debug mode Params().put_bool("JoystickDebugMode", True) - # App needs to be HTTPS for microphone and audio autoplay to work on the browser + # App needs to be HTTPS for WebRTC to work on the browser ssl_context = create_ssl_context() app = web.Application() app.router.add_get("/", index) app.router.add_get("/ping", ping, allow_head=True) app.router.add_post("/offer", offer) - app.router.add_post("/sound", sound) app.router.add_static('/static', os.path.join(TELEOPDIR, 'static')) web.run_app(app, access_log=None, host="0.0.0.0", port=5000, ssl_context=ssl_context) diff --git a/tools/cabana/.gitignore b/tools/cabana/.gitignore index 362a51f5c..3d64f8320 100644 --- a/tools/cabana/.gitignore +++ b/tools/cabana/.gitignore @@ -1,6 +1,6 @@ moc_* *.moc -cabana +_cabana dbc/car_fingerprint_to_dbc.json tests/test_cabana diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index d4cfc6728..137e77d85 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -1,14 +1,30 @@ import subprocess import os +import shutil -Import('env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib', 'cereal') +Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal') + +# Detect Qt - skip build if not available +if arch == "Darwin": + try: + brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip() + has_qt = os.path.isdir(os.path.join(brew_prefix, "opt/qt@5")) + except (FileNotFoundError, subprocess.CalledProcessError): + has_qt = False +else: + has_qt = shutil.which('qmake') is not None + +if not has_qt: + Return() + +SConscript(['#tools/replay/SConscript']) +Import('replay_lib') qt_env = env.Clone() qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"] qt_libs = [] if arch == "Darwin": - brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip() qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5" qt_dirs = [ os.path.join(qt_env['QTDIR'], "include"), @@ -31,12 +47,7 @@ else: qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else [] qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules] - qt_libs = [f"Qt5{m}" for m in qt_modules] - if arch == "larch64": - qt_libs += ["GLESv2", "wayland-client"] - qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath) - elif arch != "Darwin": - qt_libs += ["GL"] + qt_libs = [f"Qt5{m}" for m in qt_modules] + ["GL"] qt_env['QT3DIR'] = qt_env['QTDIR'] qt_env.Tool('qt3') @@ -57,11 +68,9 @@ base_frameworks = qt_env['FRAMEWORKS'] base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] if arch == "Darwin": - base_frameworks.append('OpenCL') base_frameworks.append('QtCharts') base_frameworks.append('QtSerialBus') else: - base_libs.append('OpenCL') base_libs.append('Qt5Charts') base_libs.append('Qt5SerialBus') @@ -69,7 +78,7 @@ qt_libs = base_libs cabana_env = qt_env.Clone() -cabana_libs = [cereal, messaging, visionipc, replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'usb-1.0'] + qt_libs +cabana_libs = [cereal, messaging, visionipc, replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', 'zstd', 'curl', 'yuv', 'usb-1.0'] + qt_libs opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc/dbc").abspath) cabana_env['CXXFLAGS'] += [opendbc_path] @@ -85,7 +94,7 @@ cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/socketcans 'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc', 'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'panda.cc', 'cameraview.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc', 'tools/routeinfo.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) -cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) +cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) if GetOption('extras'): cabana_env.Program('tests/test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs]) diff --git a/tools/cabana/cabana b/tools/cabana/cabana new file mode 100755 index 000000000..00709734a --- /dev/null +++ b/tools/cabana/cabana @@ -0,0 +1,38 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" +ROOT="$(cd "$DIR/../../" && pwd)" + +install_qt() { + if [[ "$(uname)" == "Darwin" ]]; then + brew install qt@5 + brew link qt@5 || true + else + SUDO="" + if [[ ! $(id -u) -eq 0 ]]; then + SUDO="sudo" + fi + $SUDO apt-get install -y --no-install-recommends \ + qtbase5-dev \ + qtbase5-dev-tools \ + qttools5-dev-tools \ + libqt5charts5-dev \ + libqt5svg5-dev \ + libqt5serialbus5-dev \ + libqt5x11extras5-dev \ + libqt5opengl5-dev + fi +} + +# Install Qt if not found +if ! command -v qmake &> /dev/null; then + echo "Qt not found, installing dependencies..." + install_qt +fi + +# Build _cabana +cd "$ROOT" +scons -j"$(nproc)" tools/cabana/_cabana + +exec "$DIR/_cabana" "$@" diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc index bc2380e55..14491b1ef 100644 --- a/tools/cabana/chart/chart.cc +++ b/tools/cabana/chart/chart.cc @@ -571,7 +571,7 @@ void ChartView::showTip(double sec) { if (s.series->isVisible()) { QString value = "--"; // use reverse iterator to find last item <= sec. - auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), sec, [](auto &p, double x) { return p.x() > x; }); + auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), sec, [](auto &p, double v) { return p.x() > v; }); if (it != s.vals.crend() && it->x() >= axis_x->min()) { value = s.sig->formatValue(it->y(), false); s.track_pt = *it; diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc index 0a0c07a15..a9ceacd80 100644 --- a/tools/cabana/signalview.cc +++ b/tools/cabana/signalview.cc @@ -34,12 +34,12 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p } void SignalModel::insertItem(SignalModel::Item *root_item, int pos, const cabana::Signal *sig) { - Item *parent_item = new Item{.sig = sig, .parent = root_item, .title = sig->name, .type = Item::Sig}; + Item *parent_item = new Item{.type = Item::Sig, .parent = root_item, .sig = sig, .title = sig->name}; root_item->children.insert(pos, parent_item); QString titles[]{"Name", "Size", "Receiver Nodes", "Little Endian", "Signed", "Offset", "Factor", "Type", "Multiplex Value", "Extra Info", "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Table"}; for (int i = 0; i < std::size(titles); ++i) { - auto item = new Item{.sig = sig, .parent = parent_item, .title = titles[i], .type = (Item::Type)(i + Item::Name)}; + auto item = new Item{.type = (Item::Type)(i + Item::Name), .parent = parent_item, .sig = sig, .title = titles[i]}; parent_item->children.push_back(item); if (item->type == Item::ExtraInfo) { parent_item = item; diff --git a/tools/cabana/streams/devicestream.cc b/tools/cabana/streams/devicestream.cc index 462dd7a36..20eaa70cd 100644 --- a/tools/cabana/streams/devicestream.cc +++ b/tools/cabana/streams/devicestream.cc @@ -6,7 +6,9 @@ #include "cereal/services.h" #include +#include #include +#include #include #include #include @@ -17,12 +19,37 @@ DeviceStream::DeviceStream(QObject *parent, QString address) : zmq_address(address), LiveStream(parent) { } +DeviceStream::~DeviceStream() { + if (!bridge_process) + return; + + bridge_process->terminate(); + if (!bridge_process->waitForFinished(3000)) { + bridge_process->kill(); + bridge_process->waitForFinished(); + } +} + +void DeviceStream::start() { + if (!zmq_address.isEmpty()) { + bridge_process = new QProcess(this); + QString bridge_path = QCoreApplication::applicationDirPath() + "/../../cereal/messaging/bridge"; + bridge_process->start(QFileInfo(bridge_path).absoluteFilePath(), QStringList { zmq_address, "/\"can/\"" }); + + if (!bridge_process->waitForStarted()) { + QMessageBox::warning(nullptr, tr("Error"), tr("Failed to start bridge: %1").arg(bridge_process->errorString())); + return; + } + } + + LiveStream::start(); +} + void DeviceStream::streamThread() { zmq_address.isEmpty() ? unsetenv("ZMQ") : setenv("ZMQ", "1", 1); std::unique_ptr context(Context::create()); - std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString(); - std::unique_ptr sock(SubSocket::create(context.get(), "can", address, false, true, services.at("can").queue_size)); + std::unique_ptr sock(SubSocket::create(context.get(), "can", "127.0.0.1", false, true, services.at("can").queue_size)); assert(sock != NULL); // run as fast as messages come in while (!QThread::currentThread()->isInterruptionRequested()) { diff --git a/tools/cabana/streams/devicestream.h b/tools/cabana/streams/devicestream.h index 3bdf22499..6beb300d7 100644 --- a/tools/cabana/streams/devicestream.h +++ b/tools/cabana/streams/devicestream.h @@ -2,16 +2,21 @@ #include "tools/cabana/streams/livestream.h" +#include + class DeviceStream : public LiveStream { Q_OBJECT public: DeviceStream(QObject *parent, QString address = {}); + ~DeviceStream(); inline QString routeName() const override { return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address); } protected: + void start() override; void streamThread() override; + QProcess *bridge_process = nullptr; const QString zmq_address; }; diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc index d9fcae6f2..4c11bfc8b 100644 --- a/tools/cabana/tests/test_cabana.cc +++ b/tools/cabana/tests/test_cabana.cc @@ -5,7 +5,7 @@ #include "catch2/catch.hpp" #include "tools/cabana/dbc/dbcmanager.h" -const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2"; +const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.zst"; TEST_CASE("DBCFile::generateDBC") { QString fn = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, "tesla_can"); diff --git a/tools/cabana/utils/util.cc b/tools/cabana/utils/util.cc index ca069b358..61e4ee051 100644 --- a/tools/cabana/utils/util.cc +++ b/tools/cabana/utils/util.cc @@ -166,13 +166,13 @@ UnixSignalHandler::~UnixSignalHandler() { } void UnixSignalHandler::signalHandler(int s) { - ::write(sig_fd[0], &s, sizeof(s)); + (void)!::write(sig_fd[0], &s, sizeof(s)); } void UnixSignalHandler::handleSigTerm() { sn->setEnabled(false); int tmp; - ::read(sig_fd[1], &tmp, sizeof(tmp)); + (void)!::read(sig_fd[1], &tmp, sizeof(tmp)); printf("\nexiting...\n"); qApp->closeAllWindows(); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 55018f28f..a05bf24b4 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -16,13 +16,14 @@ const int MIN_VIDEO_HEIGHT = 100; const int THUMBNAIL_MARGIN = 3; +// Indexed by TimelineType: None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserBookmark static const QColor timeline_colors[] = { - [(int)TimelineType::None] = QColor(111, 143, 175), - [(int)TimelineType::Engaged] = QColor(0, 163, 108), - [(int)TimelineType::UserBookmark] = Qt::magenta, - [(int)TimelineType::AlertInfo] = Qt::green, - [(int)TimelineType::AlertWarning] = QColor(255, 195, 0), - [(int)TimelineType::AlertCritical] = QColor(199, 0, 57), + QColor(111, 143, 175), + QColor(0, 163, 108), + Qt::green, + QColor(255, 195, 0), + QColor(199, 0, 57), + Qt::magenta, }; static Replay *getReplay() { diff --git a/tools/clip/run.py b/tools/clip/run.py index d338f097d..5711cafa5 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -85,7 +85,7 @@ def _parse_and_chunk_segment(args: tuple) -> list[dict]: if not messages: return [] - dt_ns, chunks, current, next_time = 1e9 / fps, [], {}, messages[0].logMonoTime + 1e9 / fps # type: ignore[var-annotated] + dt_ns, chunks, current, next_time = 1e9 / fps, [], {}, messages[0].logMonoTime + 1e9 / fps for msg in messages: if msg.logMonoTime >= next_time: chunks.append(current) @@ -159,7 +159,7 @@ def iter_segment_frames(camera_paths, start_time, end_time, fps=20, use_qcam=Fal seg_frames = FrameReader(path, pix_fmt="nv12") assert seg_frames is not None - frame = seg_frames[local_idx] if use_qcam else seg_frames.get(local_idx) # type: ignore[index, union-attr] + frame = seg_frames[local_idx] if use_qcam else seg_frames.get(local_idx) yield global_idx, frame @@ -286,7 +286,7 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True, if big: from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView else: - from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView # type: ignore[assignment] + from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.system.ui.lib.application import gui_app, FontWeight timer.lap("import") diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh deleted file mode 100755 index 4454845fc..000000000 --- a/tools/install_python_dependencies.sh +++ /dev/null @@ -1,29 +0,0 @@ -#!/usr/bin/env bash -set -euo pipefail - -# Increase the pip timeout to handle TimeoutError -export PIP_DEFAULT_TIMEOUT=200 - -DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" -ROOT="$DIR"/../ -cd "$ROOT" - -if ! command -v "uv" > /dev/null 2>&1; then - echo "installing uv..." - curl -LsSf --retry 5 --retry-delay 5 --retry-all-errors https://astral.sh/uv/install.sh | sh - UV_BIN="$HOME/.local/bin" - PATH="$UV_BIN:$PATH" -fi - -echo "updating uv..." -# ok to fail, can also fail due to installing with brew -uv self update || true - -echo "installing python packages..." -uv sync --frozen --all-extras -source .venv/bin/activate - -if [[ "$(uname)" == 'Darwin' ]]; then - touch "$ROOT"/.env - echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> "$ROOT"/.env -fi diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh deleted file mode 100755 index 5c2131d4b..000000000 --- a/tools/install_ubuntu_dependencies.sh +++ /dev/null @@ -1,132 +0,0 @@ -#!/usr/bin/env bash -set -e - -SUDO="" - -# Use sudo if not root -if [[ ! $(id -u) -eq 0 ]]; then - if [[ -z $(which sudo) ]]; then - echo "Please install sudo or run as root" - exit 1 - fi - SUDO="sudo" -fi - -# Check if stdin is open -if [ -t 0 ]; then - INTERACTIVE=1 -fi - -# Install common packages -function install_ubuntu_common_requirements() { - $SUDO apt-get update - - # normal stuff, mostly for the bare docker image - $SUDO apt-get install -y --no-install-recommends \ - ca-certificates \ - clang \ - build-essential \ - curl \ - libssl-dev \ - libcurl4-openssl-dev \ - locales \ - git \ - git-lfs \ - xvfb - - # TODO: vendor the rest of these in third_party/ - $SUDO apt-get install -y --no-install-recommends \ - gcc-arm-none-eabi \ - capnproto \ - libcapnp-dev \ - ffmpeg \ - libavformat-dev \ - libavcodec-dev \ - libavdevice-dev \ - libavutil-dev \ - libavfilter-dev \ - libbz2-dev \ - libeigen3-dev \ - libffi-dev \ - libgles2-mesa-dev \ - libglfw3-dev \ - libglib2.0-0 \ - libjpeg-dev \ - libqt5charts5-dev \ - libncurses5-dev \ - libusb-1.0-0-dev \ - libzmq3-dev \ - libzstd-dev \ - libsqlite3-dev \ - opencl-headers \ - ocl-icd-libopencl1 \ - ocl-icd-opencl-dev \ - portaudio19-dev \ - qttools5-dev-tools \ - libqt5svg5-dev \ - libqt5serialbus5-dev \ - libqt5x11extras5-dev \ - libqt5opengl5-dev \ - gettext -} - -# Install Ubuntu 24.04 LTS packages -function install_ubuntu_lts_latest_requirements() { - install_ubuntu_common_requirements - - $SUDO apt-get install -y --no-install-recommends \ - g++-12 \ - qtbase5-dev \ - qtbase5-dev-tools \ - python3-dev \ - python3-venv -} - -# Detect OS using /etc/os-release file -if [ -f "/etc/os-release" ]; then - source /etc/os-release - case "$VERSION_CODENAME" in - "jammy" | "kinetic" | "noble") - install_ubuntu_lts_latest_requirements - ;; - *) - echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 24.04." - read -p "Would you like to attempt installation anyway? " -n 1 -r - echo "" - if [[ ! $REPLY =~ ^[Yy]$ ]]; then - exit 1 - fi - install_ubuntu_lts_latest_requirements - esac - - if [[ -d "/etc/udev/rules.d/" ]]; then - # Setup jungle udev rules - $SUDO tee /etc/udev/rules.d/12-panda_jungle.rules > /dev/null < /dev/null < /dev/null </dev/null && pwd )" -ROOT="$(cd $DIR/../ && pwd)" -ARCH=$(uname -m) - -# homebrew update is slow -export HOMEBREW_NO_AUTO_UPDATE=1 - -if [[ $SHELL == "/bin/zsh" ]]; then - RC_FILE="$HOME/.zshrc" -elif [[ $SHELL == "/bin/bash" ]]; then - RC_FILE="$HOME/.bash_profile" -fi - -# Install brew if required -if [[ $(command -v brew) == "" ]]; then - echo "Installing Homebrew" - /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)" - echo "[ ] installed brew t=$SECONDS" - - # make brew available now - if [[ $ARCH == "x86_64" ]]; then - echo 'eval "$(/usr/local/bin/brew shellenv)"' >> $RC_FILE - eval "$(/usr/local/bin/brew shellenv)" - else - echo 'eval "$(/opt/homebrew/bin/brew shellenv)"' >> $RC_FILE - eval "$(/opt/homebrew/bin/brew shellenv)" - fi -else - brew up -fi - -brew bundle --file=$DIR/Brewfile - -echo "[ ] finished brew install t=$SECONDS" - -BREW_PREFIX=$(brew --prefix) - -# archive backend tools for pip dependencies -export LDFLAGS="$LDFLAGS -L${BREW_PREFIX}/opt/zlib/lib" -export LDFLAGS="$LDFLAGS -L${BREW_PREFIX}/opt/bzip2/lib" -export CPPFLAGS="$CPPFLAGS -I${BREW_PREFIX}/opt/zlib/include" -export CPPFLAGS="$CPPFLAGS -I${BREW_PREFIX}/opt/bzip2/include" - -# pycurl curl/openssl backend dependencies -export LDFLAGS="$LDFLAGS -L${BREW_PREFIX}/opt/openssl@3/lib" -export CPPFLAGS="$CPPFLAGS -I${BREW_PREFIX}/opt/openssl@3/include" -export PYCURL_CURL_CONFIG=/usr/bin/curl-config -export PYCURL_SSL_LIBRARY=openssl - -# install python dependencies -$DIR/install_python_dependencies.sh -echo "[ ] installed python dependencies t=$SECONDS" - -# brew does not link qt5 by default -# check if qt5 can be linked, if not, prompt the user to link it -QT_BIN_LOCATION="$(command -v lupdate || :)" -if [ -n "$QT_BIN_LOCATION" ]; then - # if qt6 is linked, prompt the user to unlink it and link the right version - QT_BIN_VERSION="$(lupdate -version | awk '{print $NF}')" - if [[ ! "$QT_BIN_VERSION" =~ 5\.[0-9]+\.[0-9]+ ]]; then - echo - echo "lupdate/lrelease available at PATH is $QT_BIN_VERSION" - if [[ "$QT_BIN_LOCATION" == "$(brew --prefix)/"* ]]; then - echo "Run the following command to link qt5:" - echo "brew unlink qt@6 && brew link qt@5" - else - echo "Remove conflicting qt entries from PATH and run the following command to link qt5:" - echo "brew link qt@5" - fi - fi -else - brew link qt@5 -fi - -echo -echo "---- OPENPILOT SETUP DONE ----" -echo "Open a new shell or configure your active shell env by running:" -echo "source $RC_FILE" diff --git a/tools/op.sh b/tools/op.sh index 8c41926e0..f5c5b6082 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -216,11 +216,7 @@ function op_setup() { echo "Installing dependencies..." st="$(date +%s)" - if [[ "$OSTYPE" == "linux-gnu"* ]]; then - SETUP_SCRIPT="tools/ubuntu_setup.sh" - elif [[ "$OSTYPE" == "darwin"* ]]; then - SETUP_SCRIPT="tools/mac_setup.sh" - fi + SETUP_SCRIPT="tools/setup_dependencies.sh" if ! $OPENPILOT_ROOT/$SETUP_SCRIPT; then echo -e " ↳ [${RED}✗${NC}] Dependencies installation failed!" loge "ERROR_DEPENDENCIES_INSTALLATION" @@ -229,6 +225,8 @@ function op_setup() { et="$(date +%s)" echo -e " ↳ [${GREEN}✔${NC}] Dependencies installed successfully in $((et - st)) seconds." + op_activate_venv + echo "Getting git submodules..." st="$(date +%s)" if ! git submodule update --jobs 4 --init --recursive; then diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index 142e64050..c04efd50b 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -31,7 +31,7 @@ MAX_STREAMING_BUFFER_SIZE = 1000 def install(): m = f"{platform.system()}-{platform.machine()}" - supported = ("Linux-x86_64", "Linux-aarch64", "Darwin-arm64", "Darwin-x86_64") + supported = ("Linux-x86_64", "Linux-aarch64", "Darwin-arm64") if m not in supported: raise Exception(f"Unsupported platform: '{m}'. Supported platforms: {supported}") diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py index a2c509f94..26bad25c3 100644 --- a/tools/plotjuggler/test_plotjuggler.py +++ b/tools/plotjuggler/test_plotjuggler.py @@ -1,9 +1,12 @@ import os import glob +import shutil import signal import subprocess import time +import pytest + from openpilot.common.basedir import BASEDIR from openpilot.common.timeout import Timeout from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE, install @@ -12,6 +15,7 @@ PJ_DIR = os.path.join(BASEDIR, "tools/plotjuggler") class TestPlotJuggler: + @pytest.mark.skipif(not shutil.which('qmake'), reason="Qt not installed") def test_demo(self): install() diff --git a/tools/replay/SConscript b/tools/replay/SConscript index 136c4119f..47b25df16 100644 --- a/tools/replay/SConscript +++ b/tools/replay/SConscript @@ -6,18 +6,13 @@ replay_env['CCFLAGS'] += ['-Wno-deprecated-declarations'] base_frameworks = [] base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread'] -if arch == "Darwin": - base_frameworks.append('OpenCL') -else: - base_libs.append('OpenCL') - replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "api.cc"] if arch != "Darwin": replay_lib_src.append("qcom_decoder.cc") replay_lib = replay_env.Library("replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks) Export('replay_lib') -replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs +replay_libs = [replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs replay_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks) if GetOption('extras'): diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc index 75abb8417..0d9e053ab 100644 --- a/tools/replay/logreader.cc +++ b/tools/replay/logreader.cc @@ -9,9 +9,7 @@ bool LogReader::load(const std::string &url, std::atomic *abort, bool local_cache, int chunk_size, int retries) { std::string data = FileReader(local_cache, chunk_size, retries).read(url, abort); if (!data.empty()) { - if (url.find(".bz2") != std::string::npos || util::starts_with(data, "BZh9")) { - data = decompressBZ2(data, abort); - } else if (url.find(".zst") != std::string::npos || util::starts_with(data, "\x28\xB5\x2F\xFD")) { + if (url.find(".zst") != std::string::npos || util::starts_with(data, "\x28\xB5\x2F\xFD")) { data = decompressZST(data, abort); } } diff --git a/tools/replay/qcom_decoder.cc b/tools/replay/qcom_decoder.cc index eb5409daa..44ff16ce4 100644 --- a/tools/replay/qcom_decoder.cc +++ b/tools/replay/qcom_decoder.cc @@ -175,8 +175,8 @@ bool MsmVidc::setPlaneFormat(enum v4l2_buf_type type, uint32_t fourcc) { bool MsmVidc::setFPS(uint32_t fps) { struct v4l2_streamparm streamparam = { .type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, - .parm.output.timeperframe = {1, fps} }; + streamparam.parm.output.timeperframe = {1, fps}; util::safe_ioctl(fd, VIDIOC_S_PARM, &streamparam, "VIDIOC_S_PARM failed"); return true; } diff --git a/tools/replay/route.cc b/tools/replay/route.cc index ba0082826..663c4b43c 100644 --- a/tools/replay/route.cc +++ b/tools/replay/route.cc @@ -174,9 +174,9 @@ void Route::addFileToSegment(int n, const std::string &file) { auto pos = name.find_last_of("--"); name = pos != std::string::npos ? name.substr(pos + 2) : name; - if (name == "rlog.bz2" || name == "rlog.zst" || name == "rlog") { + if (name == "rlog.zst" || name == "rlog") { segments_[n].rlog = file; - } else if (name == "qlog.bz2" || name == "qlog.zst" || name == "qlog") { + } else if (name == "qlog.zst" || name == "qlog") { segments_[n].qlog = file; } else if (name == "fcamera.hevc") { segments_[n].road_cam = file; diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc index aed3de59a..f4afc2996 100644 --- a/tools/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -2,14 +2,14 @@ #include "catch2/catch.hpp" #include "tools/replay/replay.h" -const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2"; +const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.zst"; TEST_CASE("LogReader") { SECTION("corrupt log") { FileReader reader(true); std::string corrupt_content = reader.read(TEST_RLOG_URL); corrupt_content.resize(corrupt_content.length() / 2); - corrupt_content = decompressBZ2(corrupt_content); + corrupt_content = decompressZST(corrupt_content); LogReader log; REQUIRE(log.load(corrupt_content.data(), corrupt_content.size())); REQUIRE(log.events.size() > 0); diff --git a/tools/replay/util.cc b/tools/replay/util.cc index 481564322..cc37c19ec 100644 --- a/tools/replay/util.cc +++ b/tools/replay/util.cc @@ -1,6 +1,5 @@ #include "tools/replay/util.h" -#include #include #include @@ -280,47 +279,6 @@ bool httpDownload(const std::string &url, const std::string &file, size_t chunk_ return httpDownload(url, of, chunk_size, size, abort); } -std::string decompressBZ2(const std::string &in, std::atomic *abort) { - return decompressBZ2((std::byte *)in.data(), in.size(), abort); -} - -std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic *abort) { - if (in_size == 0) return {}; - - bz_stream strm = {}; - int bzerror = BZ2_bzDecompressInit(&strm, 0, 0); - assert(bzerror == BZ_OK); - - strm.next_in = (char *)in; - strm.avail_in = in_size; - std::string out(in_size * 5, '\0'); - do { - strm.next_out = (char *)(&out[strm.total_out_lo32]); - strm.avail_out = out.size() - strm.total_out_lo32; - - const char *prev_write_pos = strm.next_out; - bzerror = BZ2_bzDecompress(&strm); - if (bzerror == BZ_OK && prev_write_pos == strm.next_out) { - // content is corrupt - bzerror = BZ_STREAM_END; - rWarning("decompressBZ2 error: content is corrupt"); - break; - } - - if (bzerror == BZ_OK && strm.avail_in > 0 && strm.avail_out == 0) { - out.resize(out.size() * 2); - } - } while (bzerror == BZ_OK && !(abort && *abort)); - - BZ2_bzDecompressEnd(&strm); - if (bzerror == BZ_STREAM_END && !(abort && *abort)) { - out.resize(strm.total_out_lo32); - out.shrink_to_fit(); - return out; - } - return {}; -} - std::string decompressZST(const std::string &in, std::atomic *abort) { return decompressZST((std::byte *)in.data(), in.size(), abort); } diff --git a/tools/replay/util.h b/tools/replay/util.h index 1f61951d2..fc4d2d54f 100644 --- a/tools/replay/util.h +++ b/tools/replay/util.h @@ -48,8 +48,6 @@ private: std::string sha256(const std::string &str); void precise_nano_sleep(int64_t nanoseconds, std::atomic &interrupt_requested); -std::string decompressBZ2(const std::string &in, std::atomic *abort = nullptr); -std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic *abort = nullptr); std::string decompressZST(const std::string &in, std::atomic *abort = nullptr); std::string decompressZST(const std::byte *in, size_t in_size, std::atomic *abort = nullptr); std::string getUrlWithoutQuery(const std::string &url); diff --git a/tools/scripts/adb_ssh.sh b/tools/scripts/adb_ssh.sh index ad6569372..4527a0296 100755 --- a/tools/scripts/adb_ssh.sh +++ b/tools/scripts/adb_ssh.sh @@ -2,7 +2,9 @@ set -euo pipefail # Forward all openpilot service ports -mapfile -t SERVICE_PORTS < <(python3 - <<'PY' +while IFS=' ' read -r name port; do + adb forward "tcp:${port}" "tcp:${port}" > /dev/null +done < <(python3 - <<'PY' from cereal.services import SERVICE_LIST FNV_PRIME = 0x100000001b3 @@ -29,12 +31,6 @@ for name, port in sorted(ports): PY ) -for entry in "${SERVICE_PORTS[@]}"; do - name="${entry% *}" - port="${entry##* }" - adb forward "tcp:${port}" "tcp:${port}" > /dev/null -done - # Forward SSH port first for interactive shell access. adb forward tcp:2222 tcp:22 diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh new file mode 100755 index 000000000..7c0bf7d70 --- /dev/null +++ b/tools/setup_dependencies.sh @@ -0,0 +1,128 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" +ROOT="$(cd "$DIR/../" && pwd)" + +function install_ubuntu_deps() { + SUDO="" + + if [[ ! $(id -u) -eq 0 ]]; then + if [[ -z $(which sudo) ]]; then + echo "Please install sudo or run as root" + exit 1 + fi + SUDO="sudo" + fi + + # Detect OS using /etc/os-release file + if [ -f "/etc/os-release" ]; then + source /etc/os-release + case "$VERSION_CODENAME" in + "jammy" | "kinetic" | "noble") + ;; + *) + echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 24.04." + read -p "Would you like to attempt installation anyway? " -n 1 -r + echo "" + if [[ ! $REPLY =~ ^[Yy]$ ]]; then + exit 1 + fi + ;; + esac + else + echo "No /etc/os-release in the system. Make sure you're running on Ubuntu, or similar." + exit 1 + fi + + $SUDO apt-get update + + # normal stuff, mostly for the bare docker image + $SUDO apt-get install -y --no-install-recommends \ + ca-certificates \ + build-essential \ + curl \ + libcurl4-openssl-dev \ + locales \ + git \ + xvfb + + if [[ -d "/etc/udev/rules.d/" ]]; then + # Setup jungle udev rules + $SUDO tee /etc/udev/rules.d/12-panda_jungle.rules > /dev/null < /dev/null < /dev/null < /dev/null 2>&1; then + echo "installing uv..." + curl -LsSf --retry 5 --retry-delay 5 --retry-all-errors https://astral.sh/uv/install.sh | sh + UV_BIN="$HOME/.local/bin" + PATH="$UV_BIN:$PATH" + fi + + echo "updating uv..." + # ok to fail, can also fail due to installing with brew + uv self update || true + + echo "installing python packages..." + uv sync --frozen --all-extras + source .venv/bin/activate + + if [[ "$(uname)" == 'Darwin' ]]; then + touch "$ROOT"/.env + echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> "$ROOT"/.env + fi +} + +# --- Main --- + +if [[ "$OSTYPE" == "linux-gnu"* ]]; then + install_ubuntu_deps + echo "[ ] installed system dependencies t=$SECONDS" +elif [[ "$OSTYPE" == "darwin"* ]]; then + if [[ $SHELL == "/bin/zsh" ]]; then + RC_FILE="$HOME/.zshrc" + elif [[ $SHELL == "/bin/bash" ]]; then + RC_FILE="$HOME/.bash_profile" + fi +fi + +if [ -f "$ROOT/pyproject.toml" ]; then + install_python_deps + echo "[ ] installed python dependencies t=$SECONDS" +fi + +if [[ "$OSTYPE" == "darwin"* ]] && [[ -n "${RC_FILE:-}" ]]; then + echo + echo "---- OPENPILOT SETUP DONE ----" + echo "Open a new shell or configure your active shell env by running:" + echo "source $RC_FILE" +fi diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh index fa5ac731b..392f365d0 100755 --- a/tools/sim/launch_openpilot.sh +++ b/tools/sim/launch_openpilot.sh @@ -6,7 +6,7 @@ export SIMULATION="1" export SKIP_FW_QUERY="1" export FINGERPRINT="HONDA_CIVIC_2022" -export BLOCK="${BLOCK},camerad,loggerd,encoderd,micd,logmessaged" +export BLOCK="${BLOCK},camerad,loggerd,encoderd,micd,logmessaged,manage_athenad" if [[ "$CI" ]]; then # TODO: offscreen UI should work export BLOCK="${BLOCK},ui" diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh deleted file mode 100755 index be4cfb68f..000000000 --- a/tools/ubuntu_setup.sh +++ /dev/null @@ -1,10 +0,0 @@ -#!/usr/bin/env bash - -set -e - -DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" - -# NOTE: this is used in a docker build, so do not run any scripts here. - -"$DIR"/install_ubuntu_dependencies.sh -"$DIR"/install_python_dependencies.sh diff --git a/tools/webcam/README.md b/tools/webcam/README.md index 67ad2cc8c..6abbc4793 100644 --- a/tools/webcam/README.md +++ b/tools/webcam/README.md @@ -10,10 +10,6 @@ What's needed: ## Setup openpilot - Follow [this readme](../README.md) to install and build the requirements -- Install OpenCL Driver (Ubuntu) -``` -sudo apt install 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