From fc58c866c67bac7ec0310343feb3486e734e7337 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 31 Jul 2025 19:43:21 -0700 Subject: [PATCH 001/107] AGNOS power monitoring watchdog (#35860) * AGNOS power monitoring watchdog * manager should do this --- system/manager/manager.py | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/system/manager/manager.py b/system/manager/manager.py index 91916f708..bd8e552dd 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -3,6 +3,7 @@ import datetime import os import signal import sys +import time import traceback from cereal import log @@ -160,6 +161,14 @@ def manager_thread() -> None: msg.managerState.processes = [p.get_process_state_msg() for p in managed_processes.values()] pm.send('managerState', msg) + # kick AGNOS power monitoring watchdog + try: + if sm.all_checks(['deviceState']): + with open("/var/tmp/power_watchdog", "w") as f: + f.write(str(time.monotonic())) + except Exception: + pass + # Exit main loop when uninstall/shutdown/reboot is needed shutdown = False for param in ("DoUninstall", "DoShutdown", "DoReboot"): From 1de16406891afccfaae0171fc8e1040673851fda Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 31 Jul 2025 22:28:58 -0700 Subject: [PATCH 002/107] ui: improve Button widget (#35861) * bnt * more * dup --- system/ui/widgets/button.py | 72 ++++++++++++++++++++++++++++++++----- 1 file changed, 63 insertions(+), 9 deletions(-) diff --git a/system/ui/widgets/button.py b/system/ui/widgets/button.py index 2be56e6dd..0b0cac4b3 100644 --- a/system/ui/widgets/button.py +++ b/system/ui/widgets/button.py @@ -26,6 +26,7 @@ class TextAlignment(IntEnum): ICON_PADDING = 15 DEFAULT_BUTTON_FONT_SIZE = 60 BUTTON_DISABLED_TEXT_COLOR = rl.Color(228, 228, 228, 51) +BUTTON_DISABLED_BACKGROUND_COLOR = rl.Color(51, 51, 51, 255) ACTION_BUTTON_FONT_SIZE = 48 BUTTON_TEXT_COLOR = { @@ -162,6 +163,9 @@ class Button(Widget): font_weight: FontWeight = FontWeight.MEDIUM, button_style: ButtonStyle = ButtonStyle.NORMAL, border_radius: int = 10, + text_alignment: TextAlignment = TextAlignment.CENTER, + text_padding: int = 20, + enabled: bool = True, ): super().__init__() @@ -169,27 +173,77 @@ class Button(Widget): self._click_callback = click_callback self._label_font = gui_app.font(FontWeight.SEMI_BOLD) self._button_style = button_style - self._font_size = font_size self._border_radius = border_radius self._font_size = font_size self._text_color = BUTTON_TEXT_COLOR[button_style] + self._background_color = BUTTON_BACKGROUND_COLORS[button_style] self._text_size = measure_text_cached(gui_app.font(font_weight), text, font_size) + self._text_alignment = text_alignment + self._text_padding = text_padding + self.enabled = enabled def _handle_mouse_release(self, mouse_pos: MousePos): - if self._click_callback: - print(f"Button clicked: {self._text}") + if self._click_callback and self.enabled: self._click_callback() - def _get_background_color(self) -> rl.Color: - if self._is_pressed: - return BUTTON_PRESSED_BACKGROUND_COLORS[self._button_style] + def _update_state(self): + if self.enabled: + self._text_color = BUTTON_TEXT_COLOR[self._button_style] + if self._is_pressed: + self._background_color = BUTTON_PRESSED_BACKGROUND_COLORS[self._button_style] + else: + self._background_color = BUTTON_BACKGROUND_COLORS[self._button_style] else: - return BUTTON_BACKGROUND_COLORS[self._button_style] + self._background_color = BUTTON_DISABLED_BACKGROUND_COLOR + self._text_color = BUTTON_DISABLED_TEXT_COLOR def _render(self, _): roundness = self._border_radius / (min(self._rect.width, self._rect.height) / 2) - rl.draw_rectangle_rounded(self._rect, roundness, 10, self._get_background_color()) + rl.draw_rectangle_rounded(self._rect, roundness, 10, self._background_color) text_pos = rl.Vector2(0, self._rect.y + (self._rect.height - self._text_size.y) // 2) - text_pos.x = self._rect.x + (self._rect.width - self._text_size.x) // 2 + if self._text_alignment == TextAlignment.LEFT: + text_pos.x = self._rect.x + self._text_padding + elif self._text_alignment == TextAlignment.CENTER: + text_pos.x = self._rect.x + (self._rect.width - self._text_size.x) // 2 + elif self._text_alignment == TextAlignment.RIGHT: + text_pos.x = self._rect.x + self._rect.width - self._text_size.x - self._text_padding rl.draw_text_ex(self._label_font, self._text, text_pos, self._font_size, 0, self._text_color) + +class ButtonRadio(Button): + def __init__(self, + text: str, + icon, + click_callback: Callable[[], None] = None, + font_size: int = DEFAULT_BUTTON_FONT_SIZE, + border_radius: int = 10, + text_padding: int = 20, + ): + + super().__init__(text, click_callback=click_callback, font_size=font_size, border_radius=border_radius, text_padding=text_padding) + self._icon = icon + self.selected = False + + def _handle_mouse_release(self, mouse_pos: MousePos): + self.selected = not self.selected + if self._click_callback: + self._click_callback() + + def _update_state(self): + if self.selected: + self._background_color = BUTTON_BACKGROUND_COLORS[ButtonStyle.PRIMARY] + else: + self._background_color = BUTTON_BACKGROUND_COLORS[ButtonStyle.NORMAL] + + def _render(self, _): + roundness = self._border_radius / (min(self._rect.width, self._rect.height) / 2) + rl.draw_rectangle_rounded(self._rect, roundness, 10, self._background_color) + + text_pos = rl.Vector2(0, self._rect.y + (self._rect.height - self._text_size.y) // 2) + text_pos.x = self._rect.x + self._text_padding + rl.draw_text_ex(self._label_font, self._text, text_pos, self._font_size, 0, self._text_color) + + if self._icon and self.selected: + icon_y = self._rect.y + (self._rect.height - self._icon.height) / 2 + icon_x = self._rect.x + self._rect.width - self._icon.width - self._text_padding - ICON_PADDING + rl.draw_texture_v(self._icon, rl.Vector2(icon_x, icon_y), rl.WHITE if self.enabled else rl.Color(255, 255, 255, 100)) From c4298ce2872160fdb9e05159408b7f5b7c964c08 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 31 Jul 2025 23:42:02 -0700 Subject: [PATCH 003/107] process replay: create openpilot prefix directories once (#35864) this is so slow --- common/prefix.py | 18 ++++++++++++------ .../test/process_replay/process_replay.py | 3 ++- 2 files changed, 14 insertions(+), 7 deletions(-) diff --git a/common/prefix.py b/common/prefix.py index 762ae70fb..207f8477d 100644 --- a/common/prefix.py +++ b/common/prefix.py @@ -9,20 +9,19 @@ from openpilot.system.hardware.hw import Paths from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT class OpenpilotPrefix: - def __init__(self, prefix: str = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False): + def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False): self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15]) self.msgq_path = os.path.join(Paths.shm_path(), self.prefix) + self.create_dirs_on_enter = create_dirs_on_enter self.clean_dirs_on_exit = clean_dirs_on_exit self.shared_download_cache = shared_download_cache def __enter__(self): self.original_prefix = os.environ.get('OPENPILOT_PREFIX', None) os.environ['OPENPILOT_PREFIX'] = self.prefix - try: - os.mkdir(self.msgq_path) - except FileExistsError: - pass - os.makedirs(Paths.log_root(), exist_ok=True) + + if self.create_dirs_on_enter: + self.create_dirs() if self.shared_download_cache: os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT @@ -40,6 +39,13 @@ class OpenpilotPrefix: pass return False + def create_dirs(self): + try: + os.mkdir(self.msgq_path) + except FileExistsError: + pass + os.makedirs(Paths.log_root(), exist_ok=True) + def clean_dirs(self): symlink_path = Params().get_param_path() if os.path.exists(symlink_path): diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 288f10743..132dda9c2 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -147,7 +147,7 @@ class ProcessConfig: class ProcessContainer: def __init__(self, cfg: ProcessConfig): - self.prefix = OpenpilotPrefix(clean_dirs_on_exit=False) + self.prefix = OpenpilotPrefix(create_dirs_on_enter=False, clean_dirs_on_exit=False) self.cfg = copy.deepcopy(cfg) self.process = copy.deepcopy(managed_processes[cfg.proc_name]) self.msg_queue: list[capnp._DynamicStructReader] = [] @@ -229,6 +229,7 @@ class ProcessContainer: fingerprint: str | None, capture_output: bool ): with self.prefix as p: + self.prefix.create_dirs() self._setup_env(params_config, environ_config) if self.cfg.config_callback is not None: From f2c17dd6888d5fe4d485e5b9e588685d9600150c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Aug 2025 03:26:45 -0700 Subject: [PATCH 004/107] process replay: ordered dict is in Python --- selfdrive/test/process_replay/process_replay.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 132dda9c2..d4f1744d3 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -4,7 +4,7 @@ import time import copy import heapq import signal -from collections import Counter, OrderedDict +from collections import Counter from dataclasses import dataclass, field from typing import Any from collections.abc import Callable, Iterable @@ -79,7 +79,7 @@ class ReplayContext: messaging.set_fake_prefix(self.proc_name) if self.main_pub is None: - self.events = OrderedDict() + self.events = {} pubs_with_events = [pub for pub in self.pubs if pub not in self.unlocked_pubs] for pub in pubs_with_events: self.events[pub] = messaging.fake_event_handle(pub, enable=True) From 2e4de9b7d8f314abf5ac9ebda62f1d7cf6f2830f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Aug 2025 03:32:03 -0700 Subject: [PATCH 005/107] process replay: speed up multi-process replay (#35867) * holy shit * benchmark without this main pub drain stuff * revert * ?? * actually this is what we want * what is going on this is python 3.11 sir * stash * this is how you dew it * minor clean up * fix * clean up * clean up * this is madness! * typing * clean up --- .../test/process_replay/process_replay.py | 35 +++++++++++++------ 1 file changed, 24 insertions(+), 11 deletions(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index d4f1744d3..ac5e94864 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -268,6 +268,19 @@ class ProcessContainer: self.prefix.clean_dirs() self._clean_env() + def get_output_msgs(self, start_time: int): + assert self.rc and self.sockets + + output_msgs = [] + self.rc.wait_for_recv_called() + for socket in self.sockets: + ms = messaging.drain_sock(socket) + for m in ms: + m = m.as_builder() + m.logMonoTime = start_time + int(self.cfg.processing_time * 1e9) + output_msgs.append(m.as_reader()) + return output_msgs + def run_step(self, msg: capnp._DynamicStructReader, frs: dict[str, FrameReader] | None) -> list[capnp._DynamicStructReader]: assert self.rc and self.pm and self.sockets and self.process.proc @@ -279,18 +292,19 @@ class ProcessContainer: self.msg_queue.append(msg) if end_of_cycle: - self.rc.wait_for_recv_called() - # call recv to let sub-sockets reconnect, after we know the process is ready if self.cnt == 0: for s in self.sockets: messaging.recv_one_or_none(s) - # empty recv on drained pub indicates the end of messages, only do that if there're any + # certain processes use drain_sock. need to cause empty recv to break from this loop trigger_empty_recv = False if self.cfg.main_pub and self.cfg.main_pub_drained: trigger_empty_recv = next((True for m in self.msg_queue if m.which() == self.cfg.main_pub), False) + # get output msgs from previous inputs + output_msgs = self.get_output_msgs(msg.logMonoTime) + for m in self.msg_queue: self.pm.send(m.which(), m.as_builder()) # send frames if needed @@ -304,14 +318,8 @@ class ProcessContainer: self.msg_queue = [] self.rc.unlock_sockets() - self.rc.wait_for_next_recv(trigger_empty_recv) - - for socket in self.sockets: - ms = messaging.drain_sock(socket) - for m in ms: - m = m.as_builder() - m.logMonoTime = msg.logMonoTime + int(self.cfg.processing_time * 1e9) - output_msgs.append(m.as_reader()) + if trigger_empty_recv: + self.rc.unlock_sockets() self.cnt += 1 assert self.process.proc.is_alive() @@ -740,6 +748,11 @@ def _replay_multi_process( internal_pub_queue.append(m) heapq.heappush(internal_pub_index_heap, (m.logMonoTime, len(internal_pub_queue) - 1)) log_msgs.extend(output_msgs) + + # flush last set of messages from each process + for container in containers: + last_time = log_msgs[-1].logMonoTime if len(log_msgs) > 0 else int(time.monotonic() * 1e9) + log_msgs.extend(container.get_output_msgs(last_time)) finally: for container in containers: container.stop() From f5991caf6f5fe606fb09134b95b203c2fbcdab9e Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 1 Aug 2025 12:29:25 -0400 Subject: [PATCH 006/107] params: update `AthenadPid` to use integer type (#35871) * params: update `AthenadPid` to use integer type * fix type --- common/params_keys.h | 2 +- common/tests/test_params.py | 4 ++-- system/manager/process.py | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/common/params_keys.h b/common/params_keys.h index 140be137a..5cd6f9691 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -12,7 +12,7 @@ inline static std::unordered_map keys = { {"ApiCache_Device", {PERSISTENT, STRING}}, {"ApiCache_FirehoseStats", {PERSISTENT, JSON}}, {"AssistNowToken", {PERSISTENT, STRING}}, - {"AthenadPid", {PERSISTENT, STRING}}, + {"AthenadPid", {PERSISTENT, INT}}, {"AthenadUploadQueue", {PERSISTENT, JSON}}, {"AthenadRecentlyViewedRoutes", {PERSISTENT, STRING}}, {"BootCount", {PERSISTENT, INT}}, diff --git a/common/tests/test_params.py b/common/tests/test_params.py index 1f39769c2..592bf2c4b 100644 --- a/common/tests/test_params.py +++ b/common/tests/test_params.py @@ -37,9 +37,9 @@ class TestParams: def test_params_two_things(self): self.params.put("DongleId", "bob") - self.params.put("AthenadPid", "123") + self.params.put("AthenadPid", 123) assert self.params.get("DongleId") == "bob" - assert self.params.get("AthenadPid") == "123" + assert self.params.get("AthenadPid") == 123 def test_params_get_block(self): def _delayed_writer(): diff --git a/system/manager/process.py b/system/manager/process.py index c83cc46e0..5e86e87c7 100644 --- a/system/manager/process.py +++ b/system/manager/process.py @@ -270,7 +270,7 @@ class DaemonProcess(ManagerProcess): stderr=open('/dev/null', 'w'), preexec_fn=os.setpgrp) - self.params.put(self.param_name, str(proc.pid)) + self.params.put(self.param_name, proc.pid) def stop(self, retry=True, block=True, sig=None) -> None: pass From b695715753c0c25ed1fcdc26d2807f9732523cb4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 1 Aug 2025 10:13:39 -0700 Subject: [PATCH 007/107] sensord: reset LSM (#35872) * sensord: reset LSM * they'll be ready in time * switch to SW_RESET, BOOT not working for some reason --- system/sensord/sensord.py | 7 +++++++ system/sensord/sensors/i2c_sensor.py | 5 +++++ system/sensord/sensors/lsm6ds3_accel.py | 4 ++++ system/sensord/sensors/lsm6ds3_gyro.py | 4 ++++ 4 files changed, 20 insertions(+) diff --git a/system/sensord/sensord.py b/system/sensord/sensord.py index ed9d0ed41..2b6467fa7 100755 --- a/system/sensord/sensord.py +++ b/system/sensord/sensord.py @@ -98,6 +98,13 @@ def main() -> None: (MMC5603NJ_Magn(I2C_BUS_IMU), "magnetometer", False), ] + # Reset sensors + for sensor, _, _ in sensors_cfg: + try: + sensor.reset() + except Exception: + cloudlog.exception(f"Error initializing {sensor} sensor") + # Initialize sensors exit_event = threading.Event() threads = [ diff --git a/system/sensord/sensors/i2c_sensor.py b/system/sensord/sensors/i2c_sensor.py index 0e15a6622..336ebb1fd 100644 --- a/system/sensord/sensors/i2c_sensor.py +++ b/system/sensord/sensors/i2c_sensor.py @@ -40,6 +40,11 @@ class Sensor: def device_address(self) -> int: raise NotImplementedError + def reset(self) -> None: + # optional. + # not part of init due to shared registers + pass + def init(self) -> None: raise NotImplementedError diff --git a/system/sensord/sensors/lsm6ds3_accel.py b/system/sensord/sensors/lsm6ds3_accel.py index 2d788fcbe..43863daa9 100644 --- a/system/sensord/sensors/lsm6ds3_accel.py +++ b/system/sensord/sensors/lsm6ds3_accel.py @@ -31,6 +31,10 @@ class LSM6DS3_Accel(Sensor): def device_address(self) -> int: return 0x6A + def reset(self): + self.write(0x12, 0x1) + time.sleep(0.1) + def init(self): chip_id = self.verify_chip_id(0x0F, [0x69, 0x6A]) if chip_id == 0x6A: diff --git a/system/sensord/sensors/lsm6ds3_gyro.py b/system/sensord/sensors/lsm6ds3_gyro.py index 68fd267df..60de2bbe0 100644 --- a/system/sensord/sensors/lsm6ds3_gyro.py +++ b/system/sensord/sensors/lsm6ds3_gyro.py @@ -29,6 +29,10 @@ class LSM6DS3_Gyro(Sensor): def device_address(self) -> int: return 0x6A + def reset(self): + self.write(0x12, 0x1) + time.sleep(0.1) + def init(self): chip_id = self.verify_chip_id(0x0F, [0x69, 0x6A]) if chip_id == 0x6A: From 4e97a29e8365821073988d9e437f41843f1de99b Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 1 Aug 2025 12:03:22 -0700 Subject: [PATCH 008/107] ui: add icon to Button (#35874) ico --- system/ui/widgets/button.py | 34 ++++++++++++++++++++++++++-------- 1 file changed, 26 insertions(+), 8 deletions(-) diff --git a/system/ui/widgets/button.py b/system/ui/widgets/button.py index 0b0cac4b3..ae85f14bb 100644 --- a/system/ui/widgets/button.py +++ b/system/ui/widgets/button.py @@ -166,6 +166,7 @@ class Button(Widget): text_alignment: TextAlignment = TextAlignment.CENTER, text_padding: int = 20, enabled: bool = True, + icon = None, ): super().__init__() @@ -180,6 +181,7 @@ class Button(Widget): self._text_size = measure_text_cached(gui_app.font(font_weight), text, font_size) self._text_alignment = text_alignment self._text_padding = text_padding + self._icon = icon self.enabled = enabled def _handle_mouse_release(self, mouse_pos: MousePos): @@ -202,12 +204,29 @@ class Button(Widget): rl.draw_rectangle_rounded(self._rect, roundness, 10, self._background_color) text_pos = rl.Vector2(0, self._rect.y + (self._rect.height - self._text_size.y) // 2) - if self._text_alignment == TextAlignment.LEFT: - text_pos.x = self._rect.x + self._text_padding - elif self._text_alignment == TextAlignment.CENTER: - text_pos.x = self._rect.x + (self._rect.width - self._text_size.x) // 2 - elif self._text_alignment == TextAlignment.RIGHT: - text_pos.x = self._rect.x + self._rect.width - self._text_size.x - self._text_padding + if self._icon: + icon_y = self._rect.y + (self._rect.height - self._icon.height) / 2 + if self._text: + if self._text_alignment == TextAlignment.LEFT: + icon_x = self._rect.x + self._text_padding + text_pos.x = icon_x + self._icon.width + ICON_PADDING + elif self._text_alignment == TextAlignment.CENTER: + total_width = self._icon.width + ICON_PADDING + self._text_size.x + icon_x = self._rect.x + (self._rect.width - total_width) / 2 + text_pos.x = icon_x + self._icon.width + ICON_PADDING + else: + text_pos.x = self._rect.x + self._rect.width - self._text_size.x - self._text_padding + icon_x = text_pos.x - ICON_PADDING - self._icon.width + else: + icon_x = self._rect.x + (self._rect.width - self._icon.width) / 2 + rl.draw_texture_v(self._icon, rl.Vector2(icon_x, icon_y), rl.WHITE if self.enabled else rl.Color(255, 255, 255, 100)) + else: + if self._text_alignment == TextAlignment.LEFT: + text_pos.x = self._rect.x + self._text_padding + elif self._text_alignment == TextAlignment.CENTER: + text_pos.x = self._rect.x + (self._rect.width - self._text_size.x) // 2 + elif self._text_alignment == TextAlignment.RIGHT: + text_pos.x = self._rect.x + self._rect.width - self._text_size.x - self._text_padding rl.draw_text_ex(self._label_font, self._text, text_pos, self._font_size, 0, self._text_color) class ButtonRadio(Button): @@ -220,8 +239,7 @@ class ButtonRadio(Button): text_padding: int = 20, ): - super().__init__(text, click_callback=click_callback, font_size=font_size, border_radius=border_radius, text_padding=text_padding) - self._icon = icon + super().__init__(text, click_callback=click_callback, font_size=font_size, border_radius=border_radius, text_padding=text_padding, icon=icon) self.selected = False def _handle_mouse_release(self, mouse_pos: MousePos): From 889e386dbc6f1d837571157a13885ea0f8d7aacd Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 1 Aug 2025 14:07:12 -0700 Subject: [PATCH 009/107] ui: adapt keyboard to raylib touch api (#35875) * key * cancel * more * wow mypy very usefull as always * _ * b * std --- system/ui/widgets/keyboard.py | 65 +++++++++++++++++++++-------------- 1 file changed, 40 insertions(+), 25 deletions(-) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index 432d9b3cf..5aea675c8 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -1,9 +1,12 @@ +from functools import partial import time from typing import Literal + import pyray as rl + from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.widgets import Widget -from openpilot.system.ui.widgets.button import ButtonStyle, gui_button +from openpilot.system.ui.widgets.button import ButtonStyle, Button from openpilot.system.ui.widgets.inputbox import InputBox from openpilot.system.ui.widgets.label import gui_label @@ -73,6 +76,9 @@ class Keyboard(Widget): self._backspace_press_time: float = 0.0 self._backspace_last_repeat: float = 0.0 + self._render_return_status = -1 + self._cancel_button = Button("Cancel", self._cancel_button_callback) + self._eye_open_texture = gui_app.texture("icons/eye_open.png", 81, 54) self._eye_closed_texture = gui_app.texture("icons/eye_closed.png", 81, 54) self._key_icons = { @@ -83,6 +89,18 @@ class Keyboard(Widget): ENTER_KEY: gui_app.texture("icons/arrow-right.png", 80, 80), } + self._all_keys = {} + for l in KEYBOARD_LAYOUTS: + for _, keys in enumerate(KEYBOARD_LAYOUTS[l]): + for _, key in enumerate(keys): + if key in self._key_icons: + texture = self._key_icons[key] + self._all_keys[key] = Button("", partial(self._key_callback, key), icon=texture, + button_style=ButtonStyle.PRIMARY if key == ENTER_KEY else ButtonStyle.NORMAL) + else: + self._all_keys[key] = Button(key, partial(self._key_callback, key)) + self._all_keys[CAPS_LOCK_KEY] = Button("", partial(self._key_callback, CAPS_LOCK_KEY), icon=self._key_icons[CAPS_LOCK_KEY]) + @property def text(self): return self._input_box.text @@ -97,13 +115,21 @@ class Keyboard(Widget): self._title = title self._sub_title = sub_title + def _cancel_button_callback(self): + self.clear() + self._render_return_status = 0 + + def _key_callback(self, k): + if k == ENTER_KEY: + self._render_return_status = 1 + else: + self.handle_key_press(k) + def _render(self, rect: rl.Rectangle): rect = rl.Rectangle(rect.x + CONTENT_MARGIN, rect.y + CONTENT_MARGIN, rect.width - 2 * CONTENT_MARGIN, rect.height - 2 * CONTENT_MARGIN) gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), self._title, 90, font_weight=FontWeight.BOLD) gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), self._sub_title, 55, font_weight=FontWeight.NORMAL) - if gui_button(rl.Rectangle(rect.x + rect.width - 386, rect.y, 386, 125), "Cancel"): - self.clear() - return 0 + self._cancel_button.render(rl.Rectangle(rect.x + rect.width - 386, rect.y, 386, 125)) # Draw input box and password toggle input_margin = 25 @@ -111,7 +137,7 @@ class Keyboard(Widget): self._render_input_area(input_box_rect) # Process backspace key repeat if it's held down - if not rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT): + if not self._all_keys[BACKSPACE_KEY]._is_pressed: self._backspace_pressed = False if self._backspace_pressed: @@ -146,33 +172,22 @@ class Keyboard(Widget): start_x += new_width is_enabled = key != ENTER_KEY or len(self._input_box.text) >= self._min_text_size - result = -1 - # Check for backspace key press-and-hold - mouse_pos = rl.get_mouse_position() - mouse_over_key = rl.check_collision_point_rec(mouse_pos, key_rect) - - if key == BACKSPACE_KEY and mouse_over_key: - if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT): - self._backspace_pressed = True - self._backspace_press_time = time.monotonic() - self._backspace_last_repeat = time.monotonic() + if key == BACKSPACE_KEY and self._all_keys[BACKSPACE_KEY]._is_pressed and not self._backspace_pressed: + self._backspace_pressed = True + self._backspace_press_time = time.monotonic() + self._backspace_last_repeat = time.monotonic() if key in self._key_icons: if key == SHIFT_ACTIVE_KEY and self._caps_lock: key = CAPS_LOCK_KEY - texture = self._key_icons[key] - result = gui_button(key_rect, "", icon=texture, button_style=ButtonStyle.PRIMARY if key == ENTER_KEY else ButtonStyle.NORMAL, is_enabled=is_enabled) + self._all_keys[key].enabled = is_enabled + self._all_keys[key].render(key_rect) else: - result = gui_button(key_rect, key, KEY_FONT_SIZE, is_enabled=is_enabled) + self._all_keys[key].enabled = is_enabled + self._all_keys[key].render(key_rect) - if result: - if key == ENTER_KEY: - return 1 - else: - self.handle_key_press(key) - - return -1 + return self._render_return_status def _render_input_area(self, input_rect: rl.Rectangle): if self._show_password_toggle: From 1966845fc9213f332e566a954c6d015ee05920c1 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sat, 2 Aug 2025 00:17:37 +0200 Subject: [PATCH 010/107] refactor: move lateral methods from init to lateral.py (#35856) * refactor: move lateral methods from init to lateral.py (#2594) * Extracting lateral methods to lateral.py * cleaning * more cleaning * more cleaning * Making sure it remains where it should * Leave rate_limit where it belongs * Moving things to `car/controls/` * Moving rate limit to get a taste of the changes * clean * copy verbatim * clean up * more * now we can format --------- Co-authored-by: Shane Smiskol * No need to change order of import --------- Co-authored-by: Shane Smiskol Co-authored-by: Adeeb Shihadeh --- opendbc_repo | 2 +- selfdrive/controls/lib/latcontrol_torque.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 875806303..a517b9973 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 875806303223d2d6e38451213a0febfc6801b652 +Subproject commit a517b9973ab1e03e0c13770ec3bd5849ede4202d diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index fc704ad1d..b04f48974 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -2,7 +2,7 @@ import math import numpy as np from cereal import log -from opendbc.car import FRICTION_THRESHOLD, get_friction +from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction from opendbc.car.interfaces import LatControlInputs from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY from openpilot.selfdrive.controls.lib.latcontrol import LatControl From 9117a414bb274cf33e9baeae77b8ffdf45638b40 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Aug 2025 15:20:50 -0700 Subject: [PATCH 011/107] process replay clean up (#35878) * format * containers might not be set * opts * halves startup time for 12 procs (1.6 to 0.8s) * stash * Revert "stash" This reverts commit 3e119a9602e495bd5a57b94e73fa53d4f45051b1. * Revert "halves startup time for 12 procs (1.6 to 0.8s)" This reverts commit a39edf0a579f0c861ccb904a2718254fe32e03d0. * Revert "opts" This reverts commit 4dc1f75f0909a93650f8f7e8525af3e4eae08205. * already set! --- selfdrive/test/process_replay/process_replay.py | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index ac5e94864..0d35f8a91 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -34,6 +34,7 @@ NUMPY_TOLERANCE = 1e-7 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__)) FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/") + class DummySocket: def __init__(self): self.data: list[bytes] = [] @@ -47,6 +48,7 @@ class DummySocket: def send(self, data: bytes): self.data.append(data) + class LauncherWithCapture: def __init__(self, capture: ProcessOutputCapture, launcher: Callable): self.capture = capture @@ -64,7 +66,7 @@ class ReplayContext: self.main_pub = cfg.main_pub self.main_pub_drained = cfg.main_pub_drained self.unlocked_pubs = cfg.unlocked_pubs - assert(len(self.pubs) != 0 or self.main_pub is not None) + assert len(self.pubs) != 0 or self.main_pub is not None def __enter__(self): self.open_context() @@ -372,7 +374,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint): with car.CarParams.from_bytes(cached_params_raw) as _cached_params: cached_params = _cached_params - CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params).CP + CP = get_car(*can_callbacks, lambda obd: None, params.get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params).CP params.put("CarParams", CP.to_bytes()) @@ -712,8 +714,8 @@ def _replay_multi_process( all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime) log_msgs = [] + containers = [] try: - containers = [] for cfg in cfgs: container = ProcessContainer(cfg) containers.append(container) From 42ebab133496c2104f18b3a85ec4801efab4d010 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 1 Aug 2025 16:02:25 -0700 Subject: [PATCH 012/107] ui: add missing keyboard function --- system/ui/widgets/keyboard.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index 5aea675c8..879215a65 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -241,6 +241,10 @@ class Keyboard(Widget): if not self._caps_lock and self._layout_name == "uppercase": self._layout_name = "lowercase" + def reset(self): + self._render_return_status = -1 + self.clear() + if __name__ == "__main__": gui_app.init_window("Keyboard") From 4d01b7bec840fefffc20e220c5f4a6dfe4b2d7ea Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 1 Aug 2025 16:27:26 -0700 Subject: [PATCH 013/107] Fix up `radarFault` handling (#35880) * fixup radarFault handling * catch all --------- Co-authored-by: Comma Device --- selfdrive/controls/lib/longitudinal_planner.py | 2 +- selfdrive/selfdrived/selfdrived.py | 13 ++++++------- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 8 insertions(+), 9 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index ba622416a..0fbcfa25b 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -178,7 +178,7 @@ class LongitudinalPlanner: def publish(self, sm, pm): plan_send = messaging.new_message('longitudinalPlan') - plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState']) + plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState', 'radarState']) longitudinalPlan = plan_send.longitudinalPlan longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2'] diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index e43a25f40..ce03b4457 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -312,13 +312,12 @@ class SelfdriveD: self.events.add(EventName.cameraFrameRate) if not REPLAY and self.rk.lagging: self.events.add(EventName.selfdrivedLagging) - if not self.sm.valid['radarState']: - if self.sm['radarState'].radarErrors.canError: - self.events.add(EventName.canError) - elif self.sm['radarState'].radarErrors.radarUnavailableTemporary: - self.events.add(EventName.radarTempUnavailable) - else: - self.events.add(EventName.radarFault) + if self.sm['radarState'].radarErrors.canError: + self.events.add(EventName.canError) + elif self.sm['radarState'].radarErrors.radarUnavailableTemporary: + self.events.add(EventName.radarTempUnavailable) + elif any(getattr(self.sm['radarState'].radarErrors, f) for f in self.sm['radarState'].radarErrors.schema.fields): + self.events.add(EventName.radarFault) if not self.sm.valid['pandaStates']: self.events.add(EventName.usbError) if CS.canTimeout: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 92669bec5..7c49100fe 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -c289a0359d1b1f26cf4d9e73a2c04b2bbfec840f \ No newline at end of file +7ecabd09f1f07c784806639114881fb6341be06c \ No newline at end of file From dd09c4f3412f0e873b521cdc1e8928a6c816239f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Aug 2025 17:51:39 -0700 Subject: [PATCH 014/107] process replay: speed up startup (#35879) * format * containers might not be set * opts * halves startup time for 12 procs (1.6 to 0.8s) * stash * clean up * who knew going through entire list of msgs each time is so slow * rewrite this to be more readable * speed up lr * clean up * more * more --- selfdrive/test/process_replay/process_replay.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 0d35f8a91..c75e9aa0a 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -6,6 +6,7 @@ import heapq import signal from collections import Counter from dataclasses import dataclass, field +from itertools import islice from typing import Any from collections.abc import Callable, Iterable from tqdm import tqdm @@ -302,7 +303,7 @@ class ProcessContainer: # certain processes use drain_sock. need to cause empty recv to break from this loop trigger_empty_recv = False if self.cfg.main_pub and self.cfg.main_pub_drained: - trigger_empty_recv = next((True for m in self.msg_queue if m.which() == self.cfg.main_pub), False) + trigger_empty_recv = any(m.which() == self.cfg.main_pub for m in self.msg_queue) # get output msgs from previous inputs output_msgs = self.get_output_msgs(msg.logMonoTime) @@ -331,7 +332,7 @@ class ProcessContainer: def card_fingerprint_callback(rc, pm, msgs, fingerprint): print("start fingerprinting") params = Params() - canmsgs = [msg for msg in msgs if msg.which() == "can"][:300] + canmsgs = list(islice((m for m in msgs if m.which() == "can"), 300)) # card expects one arbitrary can and pandaState rc.send_sync(pm, "can", messaging.new_message("can", 1)) @@ -358,19 +359,18 @@ def get_car_params_callback(rc, pm, msgs, fingerprint): can = DummySocket() sendcan = DummySocket() - canmsgs = [msg for msg in msgs if msg.which() == "can"] + canmsgs = list(islice((m for m in msgs if m.which() == "can"), 300)) cached_params_raw = params.get("CarParamsCache") - has_cached_cp = cached_params_raw is not None assert len(canmsgs) != 0, "CAN messages are required for fingerprinting" - assert os.environ.get("SKIP_FW_QUERY", False) or has_cached_cp, \ + assert os.environ.get("SKIP_FW_QUERY", False) or cached_params_raw is not None, \ "CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs." - for m in canmsgs[:300]: + for m in canmsgs: can.send(m.as_builder().to_bytes()) can_callbacks = can_comm_callbacks(can, sendcan) cached_params = None - if has_cached_cp: + if cached_params_raw is not None: with car.CarParams.from_bytes(cached_params_raw) as _cached_params: cached_params = _cached_params From 5c73681be8e1a6ae1a361c272085f97cd26b5a84 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Aug 2025 18:38:42 -0700 Subject: [PATCH 015/107] process replay: rm dummy sockets (#35883) * rm dummy sockets * debug * clean up * cu --- .../test/process_replay/process_replay.py | 30 ++++--------------- 1 file changed, 6 insertions(+), 24 deletions(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index c75e9aa0a..50585ab3a 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -17,12 +17,12 @@ import cereal.messaging as messaging from cereal import car from cereal.services import SERVICE_LIST from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name +from opendbc.car.can_definitions import CanData from opendbc.car.car_helpers import get_car, interfaces 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 can_comm_callbacks from openpilot.system.manager.process_config import managed_processes 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 @@ -36,20 +36,6 @@ PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__)) FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/") -class DummySocket: - def __init__(self): - self.data: list[bytes] = [] - - def receive(self, non_blocking: bool = False) -> bytes | None: - if non_blocking: - return None - - return self.data.pop() - - def send(self, data: bytes): - self.data.append(data) - - class LauncherWithCapture: def __init__(self, capture: ProcessOutputCapture, launcher: Callable): self.capture = capture @@ -356,25 +342,21 @@ def get_car_params_callback(rc, pm, msgs, fingerprint): CarInterface = interfaces[fingerprint] CP = CarInterface.get_non_essential_params(fingerprint) else: - can = DummySocket() - sendcan = DummySocket() - - canmsgs = list(islice((m for m in msgs if m.which() == "can"), 300)) + can_msgs = ([CanData(can.address, can.dat, can.src) for can in m.can] for m in msgs if m.which() == "can") cached_params_raw = params.get("CarParamsCache") - assert len(canmsgs) != 0, "CAN messages are required for fingerprinting" + assert next(can_msgs, None), "CAN messages are required for fingerprinting" assert os.environ.get("SKIP_FW_QUERY", False) or cached_params_raw is not None, \ "CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs." - for m in canmsgs: - can.send(m.as_builder().to_bytes()) - can_callbacks = can_comm_callbacks(can, sendcan) + def can_recv(wait_for_one: bool = False) -> list[list[CanData]]: + return [next(can_msgs, [])] cached_params = None if cached_params_raw is not None: with car.CarParams.from_bytes(cached_params_raw) as _cached_params: cached_params = _cached_params - CP = get_car(*can_callbacks, lambda obd: None, params.get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params).CP + CP = get_car(can_recv, lambda _msgs: None, lambda obd: None, params.get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params).CP params.put("CarParams", CP.to_bytes()) From cb5299be5a9b638552252146377871abb7163a4f Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 1 Aug 2025 18:40:43 -0700 Subject: [PATCH 016/107] ui: adapt network to raylib touch api (#35881) * start * for now * con * more --- system/ui/widgets/button.py | 4 ++ system/ui/widgets/confirm_dialog.py | 60 ++++++++++++++++++++++++++++- system/ui/widgets/network.py | 31 +++++++++++---- 3 files changed, 86 insertions(+), 9 deletions(-) diff --git a/system/ui/widgets/button.py b/system/ui/widgets/button.py index ae85f14bb..7dfa340ec 100644 --- a/system/ui/widgets/button.py +++ b/system/ui/widgets/button.py @@ -15,6 +15,7 @@ class ButtonStyle(IntEnum): TRANSPARENT = 3 # For buttons with transparent background and border ACTION = 4 LIST_ACTION = 5 # For list items with action buttons + NO_EFFECT = 6 class TextAlignment(IntEnum): @@ -36,6 +37,7 @@ BUTTON_TEXT_COLOR = { ButtonStyle.TRANSPARENT: rl.BLACK, ButtonStyle.ACTION: rl.Color(0, 0, 0, 255), ButtonStyle.LIST_ACTION: rl.Color(228, 228, 228, 255), + ButtonStyle.NO_EFFECT: rl.Color(228, 228, 228, 255), } BUTTON_BACKGROUND_COLORS = { @@ -45,6 +47,7 @@ BUTTON_BACKGROUND_COLORS = { ButtonStyle.TRANSPARENT: rl.BLACK, ButtonStyle.ACTION: rl.Color(189, 189, 189, 255), ButtonStyle.LIST_ACTION: rl.Color(57, 57, 57, 255), + ButtonStyle.NO_EFFECT: rl.Color(51, 51, 51, 255), } BUTTON_PRESSED_BACKGROUND_COLORS = { @@ -54,6 +57,7 @@ BUTTON_PRESSED_BACKGROUND_COLORS = { ButtonStyle.TRANSPARENT: rl.BLACK, ButtonStyle.ACTION: rl.Color(130, 130, 130, 255), ButtonStyle.LIST_ACTION: rl.Color(74, 74, 74, 74), + ButtonStyle.NO_EFFECT: rl.Color(51, 51, 51, 255), } _pressed_buttons: set[str] = set() # Track mouse press state globally diff --git a/system/ui/widgets/confirm_dialog.py b/system/ui/widgets/confirm_dialog.py index 647a455d6..f0d638131 100644 --- a/system/ui/widgets/confirm_dialog.py +++ b/system/ui/widgets/confirm_dialog.py @@ -1,8 +1,9 @@ import pyray as rl from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.widgets import DialogResult -from openpilot.system.ui.widgets.button import gui_button, ButtonStyle +from openpilot.system.ui.widgets.button import gui_button, ButtonStyle, Button from openpilot.system.ui.widgets.label import gui_text_box +from openpilot.system.ui.widgets import Widget DIALOG_WIDTH = 1520 DIALOG_HEIGHT = 600 @@ -11,6 +12,63 @@ MARGIN = 50 TEXT_AREA_HEIGHT_REDUCTION = 200 BACKGROUND_COLOR = rl.Color(27, 27, 27, 255) +class ConfirmDialog(Widget): + def __init__(self, text: str, confirm_text: str, cancel_text: str = "Cancel"): + super().__init__() + self.text = text + 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._dialog_result = DialogResult.NO_ACTION + self._cancel_text = cancel_text + + def reset(self): + self._dialog_result = DialogResult.NO_ACTION + + def _cancel_button_callback(self): + self._dialog_result = DialogResult.CANCEL + + def _confirm_button_callback(self): + self._dialog_result = DialogResult.CONFIRM + + def _render(self, rect: rl.Rectangle): + dialog_x = (gui_app.width - DIALOG_WIDTH) / 2 + dialog_y = (gui_app.height - DIALOG_HEIGHT) / 2 + dialog_rect = rl.Rectangle(dialog_x, dialog_y, DIALOG_WIDTH, DIALOG_HEIGHT) + + bottom = dialog_rect.y + dialog_rect.height + button_width = (dialog_rect.width - 3 * MARGIN) // 2 + cancel_button_x = dialog_rect.x + MARGIN + confirm_button_x = dialog_rect.x + dialog_rect.width - button_width - MARGIN + button_y = bottom - BUTTON_HEIGHT - MARGIN + cancel_button = rl.Rectangle(cancel_button_x, button_y, button_width, BUTTON_HEIGHT) + confirm_button = rl.Rectangle(confirm_button_x, button_y, button_width, BUTTON_HEIGHT) + + rl.draw_rectangle_rec(dialog_rect, BACKGROUND_COLOR) + + text_rect = rl.Rectangle(dialog_rect.x + MARGIN, dialog_rect.y, dialog_rect.width - 2 * MARGIN, dialog_rect.height - TEXT_AREA_HEIGHT_REDUCTION) + gui_text_box( + text_rect, + self.text, + font_size=70, + alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, + alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, + font_weight=FontWeight.BOLD, + ) + + if rl.is_key_pressed(rl.KeyboardKey.KEY_ENTER): + self._dialog_result = DialogResult.CONFIRM + elif rl.is_key_pressed(rl.KeyboardKey.KEY_ESCAPE): + self._dialog_result = DialogResult.CANCEL + + if self._cancel_text: + self._confirm_button.render(confirm_button) + self._cancel_button.render(cancel_button) + else: + centered_button_x = dialog_rect.x + (dialog_rect.width - button_width) / 2 + centered_confirm_button = rl.Rectangle(centered_button_x, button_y, button_width, BUTTON_HEIGHT) + self._confirm_button.render(centered_confirm_button) + + return self._dialog_result def confirm_dialog(message: str, confirm_text: str, cancel_text: str = "Cancel") -> DialogResult: dialog_x = (gui_app.width - DIALOG_WIDTH) / 2 diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 63e26f0cc..052441b72 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -1,4 +1,5 @@ from dataclasses import dataclass +from functools import partial from threading import Lock from typing import Literal @@ -7,8 +8,8 @@ from openpilot.system.ui.lib.application import gui_app from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.wifi_manager import NetworkInfo, WifiManagerCallbacks, WifiManagerWrapper, SecurityType from openpilot.system.ui.widgets import Widget -from openpilot.system.ui.widgets.button import ButtonStyle, gui_button -from openpilot.system.ui.widgets.confirm_dialog import confirm_dialog +from openpilot.system.ui.widgets.button import ButtonStyle, Button, TextAlignment +from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog from openpilot.system.ui.widgets.keyboard import Keyboard from openpilot.system.ui.widgets.label import gui_label @@ -67,8 +68,11 @@ class WifiManagerUI(Widget): self.keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH, show_password_toggle=True) self._networks: list[NetworkInfo] = [] + self._networks_buttons: dict[str, Button] = {} + self._forget_networks_buttons: dict[str, Button] = {} self._lock = Lock() self.wifi_manager = wifi_manager + self._confirm_dialog = ConfirmDialog("", "Forget", "Cancel") self.wifi_manager.set_callbacks( WifiManagerCallbacks( @@ -91,10 +95,12 @@ class WifiManagerUI(Widget): match self.state: case StateNeedsAuth(network): self.keyboard.set_title("Enter password", f"for {network.ssid}") + self.keyboard.reset() gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(network, result)) case StateShowForgetConfirm(network): - gui_app.set_modal_overlay(lambda: confirm_dialog(f'Forget Wi-Fi Network "{network.ssid}"?', "Forget"), - callback=lambda result: self.on_forgot_confirm_finished(network, result)) + self._confirm_dialog.text = f'Forget Wi-Fi Network "{network.ssid}"?' + self._confirm_dialog.reset() + gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(network, result)) case _: self._draw_network_list(rect) @@ -139,7 +145,7 @@ class WifiManagerUI(Widget): signal_icon_rect = rl.Rectangle(rect.x + rect.width - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE) security_icon_rect = rl.Rectangle(signal_icon_rect.x - spacing - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE) - gui_label(ssid_rect, network.ssid, 55) + self._networks_buttons[network.ssid].render(ssid_rect) status_text = "" match self.state: @@ -162,18 +168,23 @@ class WifiManagerUI(Widget): self.btn_width, 80, ) - if isinstance(self.state, StateIdle) and gui_button(forget_btn_rect, "Forget", button_style=ButtonStyle.ACTION) and clicked: - self.state = StateShowForgetConfirm(network) + self._forget_networks_buttons[network.ssid].render(forget_btn_rect) self._draw_status_icon(security_icon_rect, network) self._draw_signal_strength_icon(signal_icon_rect, network) - if isinstance(self.state, StateIdle) and rl.check_collision_point_rec(rl.get_mouse_position(), ssid_rect) and clicked: + def _networks_buttons_callback(self, network): + if self.scroll_panel.is_touch_valid(): if not network.is_saved and network.security_type != SecurityType.OPEN: self.state = StateNeedsAuth(network) elif not network.is_connected: self.connect_to_network(network) + def _forget_networks_buttons_callback(self, network): + if self.scroll_panel.is_touch_valid(): + if isinstance(self.state, StateIdle): + self.state = StateShowForgetConfirm(network) + def _draw_status_icon(self, rect, network: NetworkInfo): """Draw the status icon based on network's connection state""" icon_file = None @@ -211,6 +222,10 @@ class WifiManagerUI(Widget): def _on_network_updated(self, networks: list[NetworkInfo]): with self._lock: 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, text_alignment=TextAlignment.LEFT, + button_style=ButtonStyle.NO_EFFECT) + self._forget_networks_buttons[n.ssid] = Button("Forget", partial(self._forget_networks_buttons_callback, n), button_style=ButtonStyle.ACTION) def _on_need_auth(self, ssid): with self._lock: From 0ebee550507c8b577b94da36d313f9fdccacb895 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Aug 2025 19:07:16 -0700 Subject: [PATCH 017/107] LogReader: wrap events to cache which() (#35882) * speed up lr * lazy caching * clean up * it fast * stash * stash * chatgpt code is bad as usual * clean up * clean up * clean up * clean up * clean up * clean up * match behavior * cmt --- tools/lib/logreader.py | 31 +++++++++++++++++++++++++++++-- 1 file changed, 29 insertions(+), 2 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 1075bd2f0..90f6f1275 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -50,8 +50,35 @@ def decompress_stream(data: bytes): return decompressed_data + +class CachedReader: + __slots__ = ("_evt", "_enum") + + def __init__(self, evt: capnp._DynamicStructReader): + """All capnp attribute accesses are expensive, and which() is often called multiple times""" + self._evt = evt + self._enum: str | None = None + + def __repr__(self): + return self._evt.__repr__() + + def __str__(self): + return self._evt.__str__() + + def __dir__(self): + return dir(self._evt) + + def which(self) -> str: + if self._enum is None: + self._enum = self._evt.which() + return self._enum + + def __getattr__(self, name: str): + return getattr(self._evt, name) + + class _LogFileReader: - def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=False, dat=None): + def __init__(self, fn, only_union_types=False, sort_by_time=False, dat=None): self.data_version = None self._only_union_types = only_union_types @@ -76,7 +103,7 @@ class _LogFileReader: self._ents = [] try: for e in ents: - self._ents.append(e) + self._ents.append(CachedReader(e)) except capnp.KjException: warnings.warn("Corrupted events detected", RuntimeWarning, stacklevel=1) From 37c4ee153280b60642d5084484b72c6ce0d5d8e0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Aug 2025 20:13:02 -0700 Subject: [PATCH 018/107] process replay: only enter prefix when interacting with process (#35884) * save 1-2s for full route * cu * stock * Revert "stock" This reverts commit 7cfb550817b124c3085cf005fda8c102ae53ae9d. * clean up --- selfdrive/test/process_replay/process_replay.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 50585ab3a..1e1598b46 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -274,13 +274,13 @@ class ProcessContainer: assert self.rc and self.pm and self.sockets and self.process.proc output_msgs = [] - with self.prefix, Timeout(self.cfg.timeout, error_msg=f"timed out testing process {repr(self.cfg.proc_name)}"): - end_of_cycle = True - if self.cfg.should_recv_callback is not None: - end_of_cycle = self.cfg.should_recv_callback(msg, self.cfg, self.cnt) + end_of_cycle = True + if self.cfg.should_recv_callback is not None: + end_of_cycle = self.cfg.should_recv_callback(msg, self.cfg, self.cnt) - self.msg_queue.append(msg) - if end_of_cycle: + self.msg_queue.append(msg) + if end_of_cycle: + with self.prefix, Timeout(self.cfg.timeout, error_msg=f"timed out testing process {repr(self.cfg.proc_name)}"): # call recv to let sub-sockets reconnect, after we know the process is ready if self.cnt == 0: for s in self.sockets: From 8f9ee43d34eb49f835ee0db86de8981db3d52685 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Aug 2025 20:44:33 -0700 Subject: [PATCH 019/107] process replay: flip main_pub_drained default --- selfdrive/test/process_replay/process_replay.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 1e1598b46..59a0b8e1b 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -127,8 +127,9 @@ class ProcessConfig: processing_time: float = 0.001 timeout: int = 30 simulation: bool = True + # Set to service process receives on first main_pub: str | None = None - main_pub_drained: bool = True + main_pub_drained: bool = False vision_pubs: list[str] = field(default_factory=list) ignore_alive_pubs: list[str] = field(default_factory=list) unlocked_pubs: list[str] = field(default_factory=list) @@ -486,6 +487,7 @@ CONFIGS = [ tolerance=NUMPY_TOLERANCE, processing_time=0.004, main_pub="can", + main_pub_drained=True, ), ProcessConfig( proc_name="radard", @@ -574,7 +576,6 @@ CONFIGS = [ tolerance=NUMPY_TOLERANCE, processing_time=0.020, main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("roadCameraState").stream), - main_pub_drained=False, vision_pubs=["roadCameraState", "wideRoadCameraState"], ignore_alive_pubs=["wideRoadCameraState"], init_callback=get_car_params_callback, @@ -588,7 +589,6 @@ CONFIGS = [ tolerance=NUMPY_TOLERANCE, processing_time=0.020, main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("driverCameraState").stream), - main_pub_drained=False, vision_pubs=["driverCameraState"], ignore_alive_pubs=["driverCameraState"], ), From db55f1275d02b374d255a620f5a39d928a4c46d7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Aug 2025 20:49:45 -0700 Subject: [PATCH 020/107] process replay: set selfdrived main_pub (#35885) * save 1-2s for full route * now more than halve the time on top of previous speedup! * stash * default should be most common! * revert * revert * clean up * clean up * clean up * clean up --- selfdrive/test/process_replay/process_replay.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 59a0b8e1b..983046caf 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -465,6 +465,7 @@ CONFIGS = [ should_recv_callback=selfdrived_rcv_callback, tolerance=NUMPY_TOLERANCE, processing_time=0.004, + main_pub="carState", ), ProcessConfig( proc_name="controlsd", From 8b0bfd79102dbc0b1de88b7e269dc7469bcc2ce3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Aug 2025 20:52:36 -0700 Subject: [PATCH 021/107] match on /test/ --- .github/labeler.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/labeler.yaml b/.github/labeler.yaml index 861c2efdb..127a04e9e 100644 --- a/.github/labeler.yaml +++ b/.github/labeler.yaml @@ -1,6 +1,6 @@ CI / testing: - changed-files: - - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}" + - any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}" car: - changed-files: From f2e100b0e11a86e664440b2db9b925d5492b4cd9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Aug 2025 21:36:15 -0700 Subject: [PATCH 022/107] process replay: clean up recv callbacks (#35889) clean up callbacks --- .../test/process_replay/process_replay.py | 39 ++++++------------- 1 file changed, 11 insertions(+), 28 deletions(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 983046caf..5fb336568 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -362,10 +362,6 @@ def get_car_params_callback(rc, pm, msgs, fingerprint): params.put("CarParams", CP.to_bytes()) -def selfdrived_rcv_callback(msg, cfg, frame): - return (frame - 1) == 0 or msg.which() == 'carState' - - def card_rcv_callback(msg, cfg, frame): # no sendcan until card is initialized if msg.which() != "can": @@ -380,21 +376,6 @@ def card_rcv_callback(msg, cfg, frame): return len(socks) > 0 -def calibration_rcv_callback(msg, cfg, frame): - # calibrationd publishes 1 calibrationData every 5 cameraOdometry packets. - # should_recv always true to increment frame - return (frame - 1) == 0 or msg.which() == 'cameraOdometry' - - -def torqued_rcv_callback(msg, cfg, frame): - # should_recv always true to increment frame - return (frame - 1) == 0 or msg.which() == 'livePose' - - -def dmonitoringmodeld_rcv_callback(msg, cfg, frame): - return msg.which() == "driverCameraState" - - class ModeldCameraSyncRcvCallback: def __init__(self): self.road_present = False @@ -419,11 +400,13 @@ class ModeldCameraSyncRcvCallback: class MessageBasedRcvCallback: - def __init__(self, trigger_msg_type): + def __init__(self, trigger_msg_type: str, first_frame: bool): self.trigger_msg_type = trigger_msg_type + self.first_frame = first_frame def __call__(self, msg, cfg, frame): - return msg.which() == self.trigger_msg_type + # publish on first frame or trigger msg + return ((frame - 1) == 0 and self.first_frame) or msg.which() == self.trigger_msg_type class FrequencyBasedRcvCallback: @@ -462,7 +445,7 @@ CONFIGS = [ ignore=["logMonoTime"], config_callback=selfdrived_config_callback, init_callback=get_car_params_callback, - should_recv_callback=selfdrived_rcv_callback, + should_recv_callback=MessageBasedRcvCallback("carState", True), tolerance=NUMPY_TOLERANCE, processing_time=0.004, main_pub="carState", @@ -475,7 +458,7 @@ CONFIGS = [ subs=["carControl", "controlsState"], ignore=["logMonoTime", ], init_callback=get_car_params_callback, - should_recv_callback=MessageBasedRcvCallback("selfdriveState"), + should_recv_callback=MessageBasedRcvCallback("selfdriveState", False), tolerance=NUMPY_TOLERANCE, ), ProcessConfig( @@ -513,7 +496,7 @@ CONFIGS = [ subs=["liveCalibration"], ignore=["logMonoTime"], init_callback=get_car_params_callback, - should_recv_callback=calibration_rcv_callback, + should_recv_callback=MessageBasedRcvCallback("cameraOdometry", True), ), ProcessConfig( proc_name="dmonitoringd", @@ -530,7 +513,7 @@ CONFIGS = [ ], subs=["livePose"], ignore=["logMonoTime"], - should_recv_callback=MessageBasedRcvCallback("cameraOdometry"), + should_recv_callback=MessageBasedRcvCallback("cameraOdometry", False), tolerance=NUMPY_TOLERANCE, unlocked_pubs=["accelerometer", "gyroscope"], ), @@ -550,7 +533,7 @@ CONFIGS = [ subs=["liveDelay"], ignore=["logMonoTime"], init_callback=get_car_params_callback, - should_recv_callback=MessageBasedRcvCallback("livePose"), + should_recv_callback=MessageBasedRcvCallback("livePose", False), tolerance=NUMPY_TOLERANCE, ), ProcessConfig( @@ -565,7 +548,7 @@ CONFIGS = [ subs=["liveTorqueParameters"], ignore=["logMonoTime"], init_callback=get_car_params_callback, - should_recv_callback=torqued_rcv_callback, + should_recv_callback=MessageBasedRcvCallback("livePose", True), tolerance=NUMPY_TOLERANCE, ), ProcessConfig( @@ -586,7 +569,7 @@ CONFIGS = [ pubs=["liveCalibration", "driverCameraState"], subs=["driverStateV2"], ignore=["logMonoTime", "driverStateV2.modelExecutionTime", "driverStateV2.gpuExecutionTime"], - should_recv_callback=dmonitoringmodeld_rcv_callback, + should_recv_callback=MessageBasedRcvCallback("driverCameraState", False), tolerance=NUMPY_TOLERANCE, processing_time=0.020, main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("driverCameraState").stream), From bdd6ff4f3e6fac235995d825d747081d75d13407 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Aug 2025 21:46:32 -0700 Subject: [PATCH 023/107] process replay: remove frequency based recv callback (#35886) * wtf is going on? * rm it * default --- .../test/process_replay/process_replay.py | 33 +++++-------------- 1 file changed, 9 insertions(+), 24 deletions(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 5fb336568..0664f92a9 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -400,7 +400,7 @@ class ModeldCameraSyncRcvCallback: class MessageBasedRcvCallback: - def __init__(self, trigger_msg_type: str, first_frame: bool): + def __init__(self, trigger_msg_type: str, first_frame: bool = False): self.trigger_msg_type = trigger_msg_type self.first_frame = first_frame @@ -409,21 +409,6 @@ class MessageBasedRcvCallback: return ((frame - 1) == 0 and self.first_frame) or msg.which() == self.trigger_msg_type -class FrequencyBasedRcvCallback: - def __init__(self, trigger_msg_type): - self.trigger_msg_type = trigger_msg_type - - def __call__(self, msg, cfg, frame): - if msg.which() != self.trigger_msg_type: - return False - - resp_sockets = [ - s for s in cfg.subs - if frame % max(1, int(SERVICE_LIST[msg.which()].frequency / SERVICE_LIST[s].frequency)) == 0 - ] - return bool(len(resp_sockets)) - - def selfdrived_config_callback(params, cfg, lr): ublox = params.get_bool("UbloxAvailable") sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", }) @@ -458,7 +443,7 @@ CONFIGS = [ subs=["carControl", "controlsState"], ignore=["logMonoTime", ], init_callback=get_car_params_callback, - should_recv_callback=MessageBasedRcvCallback("selfdriveState", False), + should_recv_callback=MessageBasedRcvCallback("selfdriveState"), tolerance=NUMPY_TOLERANCE, ), ProcessConfig( @@ -479,7 +464,7 @@ CONFIGS = [ subs=["radarState"], ignore=["logMonoTime"], init_callback=get_car_params_callback, - should_recv_callback=FrequencyBasedRcvCallback("modelV2"), + should_recv_callback=MessageBasedRcvCallback("modelV2"), ), ProcessConfig( proc_name="plannerd", @@ -487,7 +472,7 @@ CONFIGS = [ subs=["longitudinalPlan", "driverAssistance"], ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"], init_callback=get_car_params_callback, - should_recv_callback=FrequencyBasedRcvCallback("modelV2"), + should_recv_callback=MessageBasedRcvCallback("modelV2"), tolerance=NUMPY_TOLERANCE, ), ProcessConfig( @@ -503,7 +488,7 @@ CONFIGS = [ pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "selfdriveState"], subs=["driverMonitoringState"], ignore=["logMonoTime"], - should_recv_callback=FrequencyBasedRcvCallback("driverStateV2"), + should_recv_callback=MessageBasedRcvCallback("driverStateV2"), tolerance=NUMPY_TOLERANCE, ), ProcessConfig( @@ -513,7 +498,7 @@ CONFIGS = [ ], subs=["livePose"], ignore=["logMonoTime"], - should_recv_callback=MessageBasedRcvCallback("cameraOdometry", False), + should_recv_callback=MessageBasedRcvCallback("cameraOdometry"), tolerance=NUMPY_TOLERANCE, unlocked_pubs=["accelerometer", "gyroscope"], ), @@ -523,7 +508,7 @@ CONFIGS = [ subs=["liveParameters"], ignore=["logMonoTime"], init_callback=get_car_params_callback, - should_recv_callback=FrequencyBasedRcvCallback("livePose"), + should_recv_callback=MessageBasedRcvCallback("livePose"), tolerance=NUMPY_TOLERANCE, processing_time=0.004, ), @@ -533,7 +518,7 @@ CONFIGS = [ subs=["liveDelay"], ignore=["logMonoTime"], init_callback=get_car_params_callback, - should_recv_callback=MessageBasedRcvCallback("livePose", False), + should_recv_callback=MessageBasedRcvCallback("livePose"), tolerance=NUMPY_TOLERANCE, ), ProcessConfig( @@ -569,7 +554,7 @@ CONFIGS = [ pubs=["liveCalibration", "driverCameraState"], subs=["driverStateV2"], ignore=["logMonoTime", "driverStateV2.modelExecutionTime", "driverStateV2.gpuExecutionTime"], - should_recv_callback=MessageBasedRcvCallback("driverCameraState", False), + should_recv_callback=MessageBasedRcvCallback("driverCameraState"), tolerance=NUMPY_TOLERANCE, processing_time=0.020, main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("driverCameraState").stream), From 7c87ada8d80b72fb2c01d19c21722d63edccfd54 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Aug 2025 23:55:16 -0700 Subject: [PATCH 024/107] Simplify `radarFault` handling (#35891) * Revert "Fix up `radarFault` handling (#35880)" This reverts commit 4d01b7bec840fefffc20e220c5f4a6dfe4b2d7ea. * Reapply "Fix up `radarFault` handling (#35880)" This reverts commit 597d7ec1ed78206035b924a6e8464cd9239b5db4. * can do this * yeah this is fine --- selfdrive/selfdrived/selfdrived.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index ce03b4457..94ba1b84b 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -316,7 +316,7 @@ class SelfdriveD: self.events.add(EventName.canError) elif self.sm['radarState'].radarErrors.radarUnavailableTemporary: self.events.add(EventName.radarTempUnavailable) - elif any(getattr(self.sm['radarState'].radarErrors, f) for f in self.sm['radarState'].radarErrors.schema.fields): + elif any(self.sm['radarState'].radarErrors.to_dict().values()): self.events.add(EventName.radarFault) if not self.sm.valid['pandaStates']: self.events.add(EventName.usbError) From 07909906d43cb7743f0e8e121d32add9c724dce3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 2 Aug 2025 00:08:18 -0700 Subject: [PATCH 025/107] controlsd: speed up number checking (#35890) Update controlsd.py --- selfdrive/controls/controlsd.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 39687ab72..58ce6ac3f 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 import math -from typing import SupportsFloat +from numbers import Number from cereal import car, log import cereal.messaging as messaging @@ -127,7 +127,7 @@ class Controls: # Ensure no NaNs/Infs for p in ACTUATOR_FIELDS: attr = getattr(actuators, p) - if not isinstance(attr, SupportsFloat): + if not isinstance(attr, Number): continue if not math.isfinite(attr): From 5a8e3470ff345905645b74e4b2edd6976d9de614 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 2 Aug 2025 00:09:54 -0700 Subject: [PATCH 026/107] selfdrived: feed PoseCalibrator with updates (#35893) this is also slow --- selfdrive/selfdrived/selfdrived.py | 22 +++++++++++++--------- 1 file changed, 13 insertions(+), 9 deletions(-) diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 94ba1b84b..96077414d 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -43,10 +43,8 @@ SafetyModel = car.CarParams.SafetyModel IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput) -def check_excessive_actuation(sm: messaging.SubMaster, CS: car.CarState, calibrator: PoseCalibrator, counter: int) -> tuple[int, bool]: +def check_excessive_actuation(sm: messaging.SubMaster, CS: car.CarState, calibrated_pose: Pose, counter: int) -> tuple[int, bool]: # CS.aEgo can be noisy to bumps in the road, transitioning from standstill, losing traction, etc. - device_pose = Pose.from_live_pose(sm['livePose']) - calibrated_pose = calibrator.build_calibrated_pose(device_pose) accel_calibrated = calibrated_pose.acceleration.x # livePose acceleration can be noisy due to bad mounting or aliased livePose measurements @@ -73,7 +71,9 @@ class SelfdriveD: self.CP = CP self.car_events = CarSpecificEvents(self.CP) - self.calibrator = PoseCalibrator() + + self.pose_calibrator = PoseCalibrator() + self.calibrated_pose: Pose | None = None # Setup sockets self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents']) @@ -251,12 +251,16 @@ class SelfdriveD: # Check for excessive (longitudinal) actuation if self.sm.updated['liveCalibration']: - self.calibrator.feed_live_calib(self.sm['liveCalibration']) + self.pose_calibrator.feed_live_calib(self.sm['liveCalibration']) + if self.sm.updated['livePose']: + device_pose = Pose.from_live_pose(self.sm['livePose']) + self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_pose) - self.excessive_actuation_counter, excessive_actuation = check_excessive_actuation(self.sm, CS, self.calibrator, self.excessive_actuation_counter) - if not self.excessive_actuation and excessive_actuation: - set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text="longitudinal") - self.excessive_actuation = True + if self.calibrated_pose is not None: + self.excessive_actuation_counter, excessive_actuation = check_excessive_actuation(self.sm, CS, self.calibrated_pose, self.excessive_actuation_counter) + if not self.excessive_actuation and excessive_actuation: + set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text="longitudinal") + self.excessive_actuation = True if self.excessive_actuation: self.events.add(EventName.excessiveActuation) From eb751a38042a2bbf4cf328df0a15f0d5a5ed6a6d Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Sat, 2 Aug 2025 00:22:28 -0700 Subject: [PATCH 027/107] setup: convert to raylib touch api (#35862) * first * lint * c * simple first * btn * n * more * more * bring back --- system/ui/setup.py | 132 +++++++++++++++++----------------- system/ui/widgets/keyboard.py | 4 ++ 2 files changed, 68 insertions(+), 68 deletions(-) diff --git a/system/ui/setup.py b/system/ui/setup.py index 060d8cf4e..d32d997ff 100755 --- a/system/ui/setup.py +++ b/system/ui/setup.py @@ -11,7 +11,7 @@ from cereal import log from openpilot.system.hardware import HARDWARE from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.widgets import Widget -from openpilot.system.ui.widgets.button import gui_button, ButtonStyle +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 gui_label, gui_text_box from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManagerWrapper @@ -57,9 +57,22 @@ class Setup(Widget): self.wifi_ui = WifiManagerUI(self.wifi_manager) self.keyboard = Keyboard() self.selected_radio = None - self.warning = gui_app.texture("icons/warning.png", 150, 150) self.checkmark = gui_app.texture("icons/circled_check.png", 100, 100) + self._low_voltage_continue_button = Button("Continue", self._low_voltage_continue_button_callback) + self._low_voltage_poweroff_button = Button("Power Off", HARDWARE.shutdown) + self._getting_started_button = Button("", self._getting_started_button_callback, button_style=ButtonStyle.PRIMARY, border_radius=0) + self._software_selection_openpilot_button = ButtonRadio("openpilot", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80) + self._software_selection_custom_software_button = ButtonRadio("Custom Software", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80) + self._software_selection_continue_button = Button("Continue", self._software_selection_continue_button_callback, + button_style=ButtonStyle.PRIMARY, enabled=False) + self._software_selection_back_button = Button("Back", self._software_selection_back_button_callback) + self._download_failed_reboot_button = Button("Reboot device", HARDWARE.reboot) + self._download_failed_startover_button = Button("Start over", self._download_failed_startover_button_callback, button_style=ButtonStyle.PRIMARY) + self._network_setup_back_button = Button("Back", self._network_setup_back_button_callback) + self._network_setup_continue_button = Button("Waiting for internet", self._network_setup_continue_button_callback, + button_style=ButtonStyle.PRIMARY, enabled=False) + try: with open("/sys/class/hwmon/hwmon1/in1_input") as f: @@ -85,6 +98,32 @@ class Setup(Widget): elif self.state == SetupState.DOWNLOAD_FAILED: self.render_download_failed(rect) + def _low_voltage_continue_button_callback(self): + self.state = SetupState.GETTING_STARTED + + def _getting_started_button_callback(self): + self.state = SetupState.NETWORK_SETUP + self.start_network_check() + + def _software_selection_back_button_callback(self): + self.state = SetupState.NETWORK_SETUP + + def _software_selection_continue_button_callback(self): + if self._software_selection_openpilot_button.selected: + self.download(OPENPILOT_URL) + else: + self.state = SetupState.CUSTOM_URL + + def _download_failed_startover_button_callback(self): + self.state = SetupState.GETTING_STARTED + + def _network_setup_back_button_callback(self): + self.state = SetupState.GETTING_STARTED + + def _network_setup_continue_button_callback(self): + self.state = SetupState.SOFTWARE_SELECTION + self.stop_network_check_thread.set() + def render_low_voltage(self, rect: rl.Rectangle): rl.draw_texture(self.warning, int(rect.x + 150), int(rect.y + 110), rl.WHITE) @@ -97,11 +136,8 @@ class Setup(Widget): button_width = (rect.width - MARGIN * 3) / 2 button_y = rect.height - MARGIN - BUTTON_HEIGHT - if gui_button(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT), "Power off"): - HARDWARE.shutdown() - - if gui_button(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT), "Continue"): - self.state = SetupState.GETTING_STARTED + self._low_voltage_poweroff_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT)) + self._low_voltage_continue_button.render(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT)) def render_getting_started(self, rect: rl.Rectangle): title_rect = rl.Rectangle(rect.x + 165, rect.y + 280, rect.width - 265, TITLE_FONT_SIZE) @@ -112,14 +148,10 @@ class Setup(Widget): btn_rect = rl.Rectangle(rect.width - NEXT_BUTTON_WIDTH, 0, NEXT_BUTTON_WIDTH, rect.height) - ret = gui_button(btn_rect, "", button_style=ButtonStyle.PRIMARY, border_radius=0) + self._getting_started_button.render(btn_rect) triangle = gui_app.texture("images/button_continue_triangle.png", 54, int(btn_rect.height)) rl.draw_texture_v(triangle, rl.Vector2(btn_rect.x + btn_rect.width / 2 - triangle.width / 2, btn_rect.height / 2 - triangle.height / 2), rl.WHITE) - if ret: - self.state = SetupState.NETWORK_SETUP - self.start_network_check() - def check_network_connectivity(self): while not self.stop_network_check_thread.is_set(): if self.state == SetupState.NETWORK_SETUP: @@ -157,75 +189,43 @@ class Setup(Widget): button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2 button_y = rect.height - BUTTON_HEIGHT - MARGIN - if gui_button(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT), "Back"): - self.state = SetupState.GETTING_STARTED + self._network_setup_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT)) # Check network connectivity status continue_enabled = self.network_connected.is_set() + self._network_setup_continue_button.enabled = continue_enabled continue_text = ("Continue" if self.wifi_connected.is_set() else "Continue without Wi-Fi") if continue_enabled else "Waiting for internet" - - if gui_button( - rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT), - continue_text, - button_style=ButtonStyle.PRIMARY if continue_enabled else ButtonStyle.NORMAL, - is_enabled=continue_enabled, - ): - self.state = SetupState.SOFTWARE_SELECTION - self.stop_network_check_thread.set() + self._network_setup_continue_button._text = continue_text + self._network_setup_continue_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT)) def render_software_selection(self, rect: rl.Rectangle): title_rect = rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE) - gui_label(title_rect, "Choose Software to Install", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM) + gui_label(title_rect, "Choose Software to Use", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM) radio_height = 230 radio_spacing = 30 + self._software_selection_continue_button.enabled = False + openpilot_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE + MARGIN * 2, rect.width - MARGIN * 2, radio_height) - openpilot_selected = self.selected_radio == "openpilot" + self._software_selection_openpilot_button.render(openpilot_rect) - rl.draw_rectangle_rounded(openpilot_rect, 0.1, 10, rl.Color(70, 91, 234, 255) if openpilot_selected else rl.Color(79, 79, 79, 255)) - gui_label(rl.Rectangle(openpilot_rect.x + 100, openpilot_rect.y, openpilot_rect.width - 200, radio_height), "openpilot", BODY_FONT_SIZE) - - if openpilot_selected: - checkmark_pos = rl.Vector2(openpilot_rect.x + openpilot_rect.width - 100 - self.checkmark.width, - openpilot_rect.y + radio_height / 2 - self.checkmark.height / 2) - rl.draw_texture_v(self.checkmark, checkmark_pos, rl.WHITE) + if self._software_selection_openpilot_button.selected: + self._software_selection_continue_button.enabled = True + self._software_selection_custom_software_button.selected = False custom_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE + MARGIN * 2 + radio_height + radio_spacing, rect.width - MARGIN * 2, radio_height) - custom_selected = self.selected_radio == "custom" + self._software_selection_custom_software_button.render(custom_rect) - rl.draw_rectangle_rounded(custom_rect, 0.1, 10, rl.Color(70, 91, 234, 255) if custom_selected else rl.Color(79, 79, 79, 255)) - gui_label(rl.Rectangle(custom_rect.x + 100, custom_rect.y, custom_rect.width - 200, radio_height), "Custom Software", BODY_FONT_SIZE) - - if custom_selected: - checkmark_pos = rl.Vector2(custom_rect.x + custom_rect.width - 100 - self.checkmark.width, custom_rect.y + radio_height / 2 - self.checkmark.height / 2) - rl.draw_texture_v(self.checkmark, checkmark_pos, rl.WHITE) - - mouse_pos = rl.get_mouse_position() - if rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT): - if rl.check_collision_point_rec(mouse_pos, openpilot_rect): - self.selected_radio = "openpilot" - elif rl.check_collision_point_rec(mouse_pos, custom_rect): - self.selected_radio = "custom" + if self._software_selection_custom_software_button.selected: + self._software_selection_continue_button.enabled = True + self._software_selection_openpilot_button.selected = False button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2 button_y = rect.height - BUTTON_HEIGHT - MARGIN - if gui_button(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT), "Back"): - self.state = SetupState.NETWORK_SETUP - - continue_enabled = self.selected_radio is not None - if gui_button( - rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT), - "Continue", - button_style=ButtonStyle.PRIMARY, - is_enabled=continue_enabled, - ): - if continue_enabled: - if self.selected_radio == "openpilot": - self.download(OPENPILOT_URL) - else: - self.state = SetupState.CUSTOM_URL + self._software_selection_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT)) + self._software_selection_continue_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT)) def render_downloading(self, rect: rl.Rectangle): title_rect = rl.Rectangle(rect.x, rect.y + rect.height / 2 - TITLE_FONT_SIZE / 2, rect.width, TITLE_FONT_SIZE) @@ -244,13 +244,8 @@ class Setup(Widget): button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2 button_y = rect.height - BUTTON_HEIGHT - MARGIN - - if gui_button(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT), "Reboot device"): - HARDWARE.reboot() - - if gui_button(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT), "Start over", - button_style=ButtonStyle.PRIMARY): - self.state = SetupState.GETTING_STARTED + self._download_failed_reboot_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT)) + self._download_failed_startover_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT)) def render_custom_url(self): def handle_keyboard_result(result): @@ -265,6 +260,7 @@ class Setup(Widget): elif result == 0: self.state = SetupState.SOFTWARE_SELECTION + self.keyboard.reset() self.keyboard.set_title("Enter URL", "for Custom Software") gui_app.set_modal_overlay(self.keyboard, callback=handle_keyboard_result) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index 879215a65..2e5f68464 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -119,6 +119,10 @@ class Keyboard(Widget): self.clear() self._render_return_status = 0 + def reset(self): + self._render_return_status = -1 + self.clear() + def _key_callback(self, k): if k == ENTER_KEY: self._render_return_status = 1 From 3ff874d6c27aff84e851611df15188da23c0c2bd Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Sat, 2 Aug 2025 00:24:52 -0700 Subject: [PATCH 028/107] ui: fix keyboard lint --- system/ui/widgets/keyboard.py | 4 ---- 1 file changed, 4 deletions(-) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index 2e5f68464..879215a65 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -119,10 +119,6 @@ class Keyboard(Widget): self.clear() self._render_return_status = 0 - def reset(self): - self._render_return_status = -1 - self.clear() - def _key_callback(self, k): if k == ENTER_KEY: self._render_return_status = 1 From 313f36712c524400eca2c87d0fac293a60e406c9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 2 Aug 2025 00:45:29 -0700 Subject: [PATCH 029/107] process replay: lock polled socket only (#35887) * stash * Revert "stash" This reverts commit 333818b80f498e8e3dac3c1cd36e669e97521d52. * works for paramsd * INSANE * format * fater * clean up * more * huh i thought order matterred? * clean that up * can remove this * cmt * check isisntance * rename * clean up * clean up * more * more! * sounds better --- selfdrive/test/process_replay/process_replay.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 0664f92a9..05aa27f31 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -52,7 +52,6 @@ class ReplayContext: self.pubs = cfg.pubs self.main_pub = cfg.main_pub self.main_pub_drained = cfg.main_pub_drained - self.unlocked_pubs = cfg.unlocked_pubs assert len(self.pubs) != 0 or self.main_pub is not None def __enter__(self): @@ -69,8 +68,7 @@ class ReplayContext: if self.main_pub is None: self.events = {} - pubs_with_events = [pub for pub in self.pubs if pub not in self.unlocked_pubs] - for pub in pubs_with_events: + for pub in self.pubs: self.events[pub] = messaging.fake_event_handle(pub, enable=True) else: self.events = {self.main_pub: messaging.fake_event_handle(self.main_pub, enable=True)} @@ -132,7 +130,11 @@ class ProcessConfig: main_pub_drained: bool = False vision_pubs: list[str] = field(default_factory=list) ignore_alive_pubs: list[str] = field(default_factory=list) - unlocked_pubs: list[str] = field(default_factory=list) + + def __post_init__(self): + # If the process is polling a service, we can just lock that one to speed up replay + if self.main_pub is None and isinstance(self.should_recv_callback, MessageBasedRcvCallback): + self.main_pub = self.should_recv_callback.trigger_msg_type class ProcessContainer: @@ -433,7 +435,6 @@ CONFIGS = [ should_recv_callback=MessageBasedRcvCallback("carState", True), tolerance=NUMPY_TOLERANCE, processing_time=0.004, - main_pub="carState", ), ProcessConfig( proc_name="controlsd", @@ -500,7 +501,6 @@ CONFIGS = [ ignore=["logMonoTime"], should_recv_callback=MessageBasedRcvCallback("cameraOdometry"), tolerance=NUMPY_TOLERANCE, - unlocked_pubs=["accelerometer", "gyroscope"], ), ProcessConfig( proc_name="paramsd", From 9dc98b36be07ceaddeecda3bf501cc80d7c4f6b8 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sat, 2 Aug 2025 20:20:18 +0200 Subject: [PATCH 030/107] refactor: cleanup gravity constant handling (#35866) * refactor: move lateral methods from init to lateral.py (#2594) * Extracting lateral methods to lateral.py * cleaning * more cleaning * more cleaning * Making sure it remains where it should * Leave rate_limit where it belongs * Moving things to `car/controls/` * Moving rate limit to get a taste of the changes * clean * copy verbatim * clean up * more * now we can format --------- Co-authored-by: Shane Smiskol * No need to change order of import * refactor: consolidate ACCELERATION_DUE_TO_GRAVITY import path * bump opendbc * update refs * don't import from opendbc --------- Co-authored-by: Shane Smiskol Co-authored-by: Adeeb Shihadeh --- common/{conversions.py => constants.py} | 6 +++++- opendbc_repo | 2 +- selfdrive/car/cruise.py | 2 +- selfdrive/car/tests/test_cruise_speed.py | 2 +- selfdrive/controls/controlsd.py | 2 +- selfdrive/controls/lib/desire_helper.py | 2 +- selfdrive/controls/lib/drive_helpers.py | 2 +- selfdrive/controls/lib/latcontrol_torque.py | 2 +- selfdrive/controls/lib/ldw.py | 2 +- selfdrive/controls/lib/longitudinal_planner.py | 2 +- selfdrive/locationd/calibrationd.py | 2 +- selfdrive/locationd/models/car_kf.py | 2 +- selfdrive/locationd/torqued.py | 2 +- selfdrive/selfdrived/events.py | 2 +- selfdrive/test/process_replay/process_replay.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/ui/onroad/hud_renderer.py | 2 +- tools/longitudinal_maneuvers/maneuversd.py | 2 +- 18 files changed, 22 insertions(+), 18 deletions(-) rename common/{conversions.py => constants.py} (83%) diff --git a/common/conversions.py b/common/constants.py similarity index 83% rename from common/conversions.py rename to common/constants.py index b02b33c62..7ca425c4b 100644 --- a/common/conversions.py +++ b/common/constants.py @@ -1,6 +1,7 @@ import numpy as np -class Conversions: +# conversions +class CV: # Speed MPH_TO_KPH = 1.609344 KPH_TO_MPH = 1. / MPH_TO_KPH @@ -17,3 +18,6 @@ class Conversions: # Mass LB_TO_KG = 0.453592 + + +ACCELERATION_DUE_TO_GRAVITY = 9.81 # m/s^2 diff --git a/opendbc_repo b/opendbc_repo index a517b9973..c6f01a603 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit a517b9973ab1e03e0c13770ec3bd5849ede4202d +Subproject commit c6f01a6039faeb0d54d3d5a284d7cd2422eac2a8 diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py index b825808ac..0d761844b 100644 --- a/selfdrive/car/cruise.py +++ b/selfdrive/car/cruise.py @@ -2,7 +2,7 @@ import math import numpy as np from cereal import car -from openpilot.common.conversions import Conversions as CV +from openpilot.common.constants import CV # WARNING: this value was determined based on the model's training distribution, diff --git a/selfdrive/car/tests/test_cruise_speed.py b/selfdrive/car/tests/test_cruise_speed.py index 7bda3a24e..aa70e49f5 100644 --- a/selfdrive/car/tests/test_cruise_speed.py +++ b/selfdrive/car/tests/test_cruise_speed.py @@ -6,7 +6,7 @@ from 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 -from openpilot.common.conversions import Conversions as CV +from openpilot.common.constants import CV from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver ButtonEvent = car.CarState.ButtonEvent diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 58ce6ac3f..dd7968b73 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -4,7 +4,7 @@ from numbers import Number from cereal import car, log import cereal.messaging as messaging -from openpilot.common.conversions import Conversions as CV +from openpilot.common.constants import CV from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper from openpilot.common.swaglog import cloudlog diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index 90b685864..730aaeb8f 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -1,5 +1,5 @@ from cereal import log -from openpilot.common.conversions import Conversions as CV +from openpilot.common.constants import CV from openpilot.common.realtime import DT_MDL LaneChangeState = log.LaneChangeState diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 51eb694b4..e28fa3021 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -1,5 +1,5 @@ import numpy as np -from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY +from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY from openpilot.common.realtime import DT_CTRL, DT_MDL MIN_SPEED = 1.0 diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index b04f48974..991ac3439 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -4,7 +4,7 @@ import numpy as np from cereal import log from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction from opendbc.car.interfaces import LatControlInputs -from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY +from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY from openpilot.selfdrive.controls.lib.latcontrol import LatControl from openpilot.common.pid import PIDController diff --git a/selfdrive/controls/lib/ldw.py b/selfdrive/controls/lib/ldw.py index caf03fec7..78a6d6cf6 100644 --- a/selfdrive/controls/lib/ldw.py +++ b/selfdrive/controls/lib/ldw.py @@ -1,6 +1,6 @@ from cereal import log from openpilot.common.realtime import DT_CTRL -from openpilot.common.conversions import Conversions as CV +from openpilot.common.constants import CV CAMERA_OFFSET = 0.04 diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 0fbcfa25b..2149e6007 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -4,7 +4,7 @@ import numpy as np import cereal.messaging as messaging from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX -from openpilot.common.conversions import Conversions as CV +from openpilot.common.constants import CV from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import DT_MDL from openpilot.selfdrive.modeld.constants import ModelConstants diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 59f30dbf7..03c044982 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -14,7 +14,7 @@ from typing import NoReturn from cereal import log, car import cereal.messaging as messaging from openpilot.system.hardware import HARDWARE -from openpilot.common.conversions import Conversions as CV +from openpilot.common.constants import CV from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index 6db749b94..27cc4ef9c 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -5,7 +5,7 @@ from typing import Any import numpy as np -from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY +from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY from openpilot.selfdrive.locationd.models.constants import ObservationKind from openpilot.common.swaglog import cloudlog diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 23bd99931..3aafbd591 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -4,7 +4,7 @@ from collections import deque, defaultdict import cereal.messaging as messaging from cereal import car, log -from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY +from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process, DT_MDL from openpilot.common.filter_simple import FirstOrderFilter diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index fe4c1a682..49c2cea4a 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -7,7 +7,7 @@ from collections.abc import Callable from cereal import log, car import cereal.messaging as messaging -from openpilot.common.conversions import Conversions as CV +from openpilot.common.constants import CV from openpilot.common.git import get_short_branch from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 05aa27f31..b69dec4eb 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -31,7 +31,7 @@ from openpilot.tools.lib.logreader import LogIterable from openpilot.tools.lib.framereader import FrameReader # Numpy gives different results based on CPU features after version 19 -NUMPY_TOLERANCE = 1e-7 +NUMPY_TOLERANCE = 1e-2 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__)) FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/") diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 7c49100fe..eb178b056 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -7ecabd09f1f07c784806639114881fb6341be06c \ No newline at end of file +8ff1b4c9c7a34589142a07579b0051acddfe7699 \ No newline at end of file diff --git a/selfdrive/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py index a74d309e0..4ae713d9d 100644 --- a/selfdrive/ui/onroad/hud_renderer.py +++ b/selfdrive/ui/onroad/hud_renderer.py @@ -1,6 +1,6 @@ import pyray as rl from dataclasses import dataclass -from openpilot.common.conversions import Conversions as CV +from openpilot.common.constants import CV from openpilot.selfdrive.ui.onroad.exp_button import ExpButton from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus from openpilot.system.ui.lib.application import gui_app, FontWeight diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py index 6c6e252a5..170d44ef7 100755 --- a/tools/longitudinal_maneuvers/maneuversd.py +++ b/tools/longitudinal_maneuvers/maneuversd.py @@ -3,7 +3,7 @@ import numpy as np from dataclasses import dataclass from cereal import messaging, car -from opendbc.car.common.conversions import Conversions as CV +from opendbc.car.common.constants import CV from openpilot.common.realtime import DT_MDL from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog From bab251b287276e2741922802b6828ac3a3dff3fc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 2 Aug 2025 12:02:17 -0700 Subject: [PATCH 031/107] fix conversions import path (#35899) --- tools/longitudinal_maneuvers/maneuversd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py index 170d44ef7..c17ae2375 100755 --- a/tools/longitudinal_maneuvers/maneuversd.py +++ b/tools/longitudinal_maneuvers/maneuversd.py @@ -3,7 +3,7 @@ import numpy as np from dataclasses import dataclass from cereal import messaging, car -from opendbc.car.common.constants import CV +from openpilot.common.constants import CV from openpilot.common.realtime import DT_MDL from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog From c92add1280dac702eb1e7020e450d131cf0d1fb8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 2 Aug 2025 12:34:13 -0700 Subject: [PATCH 032/107] process replay: don't wait for process to start (#35897) * hmm * test proc replay determinism * clean up * rm * clean up --- selfdrive/test/process_replay/process_replay.py | 5 ----- 1 file changed, 5 deletions(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index b69dec4eb..29a268b45 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -247,11 +247,6 @@ class ProcessContainer: if self.cfg.init_callback is not None: self.cfg.init_callback(self.rc, self.pm, all_msgs, fingerprint) - # wait for process to startup - with Timeout(10, error_msg=f"timed out waiting for process to start: {repr(self.cfg.proc_name)}"): - while not all(self.pm.all_readers_updated(s) for s in self.cfg.pubs if s not in self.cfg.ignore_alive_pubs): - time.sleep(0) - def stop(self): with self.prefix: self.process.signal(signal.SIGKILL) From 2e15ac5f4f57a1a3774f797ea71a2b4b0dfe8b18 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 2 Aug 2025 13:18:30 -0700 Subject: [PATCH 033/107] test manager in CI (#35900) * test manager * not now * try * fix --- pyproject.toml | 1 + 1 file changed, 1 insertion(+) diff --git a/pyproject.toml b/pyproject.toml index 142b8b06d..e50b73e0d 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -152,6 +152,7 @@ markers = [ testpaths = [ "common", "selfdrive", + "system/manager", "system/updated", "system/athena", "system/camerad", From ba2dced54ce2a4fec33565e13f15b610cc8a8b00 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 2 Aug 2025 15:52:54 -0700 Subject: [PATCH 034/107] Revert "LogReader: wrap events to cache which() (#35882)" This reverts commit 0ebee550507c8b577b94da36d313f9fdccacb895. --- tools/lib/logreader.py | 31 ++----------------------------- 1 file changed, 2 insertions(+), 29 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 90f6f1275..1075bd2f0 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -50,35 +50,8 @@ def decompress_stream(data: bytes): return decompressed_data - -class CachedReader: - __slots__ = ("_evt", "_enum") - - def __init__(self, evt: capnp._DynamicStructReader): - """All capnp attribute accesses are expensive, and which() is often called multiple times""" - self._evt = evt - self._enum: str | None = None - - def __repr__(self): - return self._evt.__repr__() - - def __str__(self): - return self._evt.__str__() - - def __dir__(self): - return dir(self._evt) - - def which(self) -> str: - if self._enum is None: - self._enum = self._evt.which() - return self._enum - - def __getattr__(self, name: str): - return getattr(self._evt, name) - - class _LogFileReader: - def __init__(self, fn, only_union_types=False, sort_by_time=False, dat=None): + def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=False, dat=None): self.data_version = None self._only_union_types = only_union_types @@ -103,7 +76,7 @@ class _LogFileReader: self._ents = [] try: for e in ents: - self._ents.append(CachedReader(e)) + self._ents.append(e) except capnp.KjException: warnings.warn("Corrupted events detected", RuntimeWarning, stacklevel=1) From aa2a3b3c8fd338731d470b6b958e446b6664fcdf Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 2 Aug 2025 16:08:58 -0700 Subject: [PATCH 035/107] hw: remove unused volume properties --- system/hardware/base.h | 3 --- system/hardware/tici/hardware.h | 2 -- 2 files changed, 5 deletions(-) diff --git a/system/hardware/base.h b/system/hardware/base.h index baf0f3c3d..df9700a01 100644 --- a/system/hardware/base.h +++ b/system/hardware/base.h @@ -10,9 +10,6 @@ // no-op base hw class class HardwareNone { public: - static constexpr float MAX_VOLUME = 0.7; - static constexpr float MIN_VOLUME = 0.2; - static std::string get_os_version() { return ""; } static std::string get_name() { return ""; } static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; } diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h index ae1087fa7..ed8a7e7d1 100644 --- a/system/hardware/tici/hardware.h +++ b/system/hardware/tici/hardware.h @@ -13,8 +13,6 @@ class HardwareTici : public HardwareNone { public: - static constexpr float MAX_VOLUME = 0.9; - static constexpr float MIN_VOLUME = 0.1; static bool TICI() { return true; } static bool AGNOS() { return true; } static std::string get_os_version() { From 8c78749846bbb7a29919d6b8d9c3b6a4442df736 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Sat, 2 Aug 2025 19:10:49 -0400 Subject: [PATCH 036/107] sim: fix "msg not found" errors (#35903) * garbage-collect CRUISE_PARAMS * follow GEARBOX message refactor --- tools/sim/lib/simulated_car.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py index ad0f4de5d..2681b2690 100644 --- a/tools/sim/lib/simulated_car.py +++ b/tools/sim/lib/simulated_car.py @@ -46,7 +46,7 @@ class SimulatedCar: msg.append(self.packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": simulator_state.cruise_button})) - msg.append(self.packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8})) + msg.append(self.packer.make_can_msg("GEARBOX_AUTO", 0, {"GEAR_SHIFTER": 4})) msg.append(self.packer.make_can_msg("GAS_PEDAL_2", 0, {})) msg.append(self.packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1})) msg.append(self.packer.make_can_msg("STEER_STATUS", 0, {"STEER_TORQUE_SENSOR": simulator_state.user_torque})) @@ -56,7 +56,6 @@ class SimulatedCar: msg.append(self.packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {})) msg.append(self.packer.make_can_msg("EPB_STATUS", 0, {})) msg.append(self.packer.make_can_msg("DOORS_STATUS", 0, {})) - msg.append(self.packer.make_can_msg("CRUISE_PARAMS", 0, {})) msg.append(self.packer.make_can_msg("CRUISE", 0, {})) msg.append(self.packer.make_can_msg("CRUISE_FAULT_STATUS", 0, {})) msg.append(self.packer.make_can_msg("SCM_FEEDBACK", 0, From 0b855a93d723ef3e57d8750b7f624b85598117ae Mon Sep 17 00:00:00 2001 From: Simon Kuang Date: Sat, 2 Aug 2025 16:50:45 -0700 Subject: [PATCH 037/107] scons: support build on single processor (#35904) Update SConstruct --- SConstruct | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/SConstruct b/SConstruct index 530cf82d9..56788e584 100644 --- a/SConstruct +++ b/SConstruct @@ -17,7 +17,7 @@ AGNOS = TICI Decider('MD5-timestamp') -SetOption('num_jobs', int(os.cpu_count()/2)) +SetOption('num_jobs', max(1, int(os.cpu_count()/2))) AddOption('--kaitai', action='store_true', From 8cce8cf3f33e57c6aff543be3518bc67a377653b Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Sat, 2 Aug 2025 19:01:59 -0700 Subject: [PATCH 038/107] ui: keyboard improvements (#35906) * better * miss this one --- system/ui/widgets/button.py | 4 ++++ system/ui/widgets/keyboard.py | 20 +++++++++++--------- 2 files changed, 15 insertions(+), 9 deletions(-) diff --git a/system/ui/widgets/button.py b/system/ui/widgets/button.py index 7dfa340ec..93e760260 100644 --- a/system/ui/widgets/button.py +++ b/system/ui/widgets/button.py @@ -16,6 +16,7 @@ class ButtonStyle(IntEnum): ACTION = 4 LIST_ACTION = 5 # For list items with action buttons NO_EFFECT = 6 + KEYBOARD = 7 class TextAlignment(IntEnum): @@ -38,6 +39,7 @@ BUTTON_TEXT_COLOR = { ButtonStyle.ACTION: rl.Color(0, 0, 0, 255), ButtonStyle.LIST_ACTION: rl.Color(228, 228, 228, 255), ButtonStyle.NO_EFFECT: rl.Color(228, 228, 228, 255), + ButtonStyle.KEYBOARD: rl.Color(221, 221, 221, 255), } BUTTON_BACKGROUND_COLORS = { @@ -48,6 +50,7 @@ BUTTON_BACKGROUND_COLORS = { ButtonStyle.ACTION: rl.Color(189, 189, 189, 255), ButtonStyle.LIST_ACTION: rl.Color(57, 57, 57, 255), ButtonStyle.NO_EFFECT: rl.Color(51, 51, 51, 255), + ButtonStyle.KEYBOARD: rl.Color(68, 68, 68, 255), } BUTTON_PRESSED_BACKGROUND_COLORS = { @@ -58,6 +61,7 @@ BUTTON_PRESSED_BACKGROUND_COLORS = { ButtonStyle.ACTION: rl.Color(130, 130, 130, 255), ButtonStyle.LIST_ACTION: rl.Color(74, 74, 74, 74), ButtonStyle.NO_EFFECT: rl.Color(51, 51, 51, 255), + ButtonStyle.KEYBOARD: rl.Color(51, 51, 51, 255), } _pressed_buttons: set[str] = set() # Track mouse press state globally diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index 879215a65..b34b4d6a4 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -79,6 +79,8 @@ class Keyboard(Widget): self._render_return_status = -1 self._cancel_button = Button("Cancel", self._cancel_button_callback) + self._eye_button = Button("", self._eye_button_callback, button_style=ButtonStyle.TRANSPARENT) + self._eye_open_texture = gui_app.texture("icons/eye_open.png", 81, 54) self._eye_closed_texture = gui_app.texture("icons/eye_closed.png", 81, 54) self._key_icons = { @@ -96,10 +98,11 @@ class Keyboard(Widget): if key in self._key_icons: texture = self._key_icons[key] self._all_keys[key] = Button("", partial(self._key_callback, key), icon=texture, - button_style=ButtonStyle.PRIMARY if key == ENTER_KEY else ButtonStyle.NORMAL) + button_style=ButtonStyle.PRIMARY if key == ENTER_KEY else ButtonStyle.KEYBOARD) else: - self._all_keys[key] = Button(key, partial(self._key_callback, key)) - self._all_keys[CAPS_LOCK_KEY] = Button("", partial(self._key_callback, CAPS_LOCK_KEY), icon=self._key_icons[CAPS_LOCK_KEY]) + self._all_keys[key] = Button(key, partial(self._key_callback, key), button_style=ButtonStyle.KEYBOARD, font_size=85) + self._all_keys[CAPS_LOCK_KEY] = Button("", partial(self._key_callback, CAPS_LOCK_KEY), icon=self._key_icons[CAPS_LOCK_KEY], + button_style=ButtonStyle.KEYBOARD) @property def text(self): @@ -115,6 +118,9 @@ class Keyboard(Widget): self._title = title self._sub_title = sub_title + def _eye_button_callback(self): + self._password_mode = not self._password_mode + def _cancel_button_callback(self): self.clear() self._render_return_status = 0 @@ -198,16 +204,12 @@ class Keyboard(Widget): eye_texture = self._eye_closed_texture if self._password_mode else self._eye_open_texture eye_rect = rl.Rectangle(input_rect.x + input_rect.width - 90, input_rect.y, 80, input_rect.height) + self._eye_button.render(eye_rect) + eye_x = eye_rect.x + (eye_rect.width - eye_texture.width) / 2 eye_y = eye_rect.y + (eye_rect.height - eye_texture.height) / 2 rl.draw_texture_v(eye_texture, rl.Vector2(eye_x, eye_y), rl.WHITE) - - # Handle click on eye icon - if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT) and rl.check_collision_point_rec( - rl.get_mouse_position(), eye_rect - ): - self._password_mode = not self._password_mode else: self._input_box.render(input_rect) From 181ea39a83bed1bf29cf7d305377ae72baa2bf64 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Sat, 2 Aug 2025 20:38:37 -0700 Subject: [PATCH 039/107] ui: re-compute text size (#35907) * one * app * fix --- system/ui/setup.py | 2 +- system/ui/widgets/button.py | 7 ++++++- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/system/ui/setup.py b/system/ui/setup.py index d32d997ff..61efaa40b 100755 --- a/system/ui/setup.py +++ b/system/ui/setup.py @@ -195,7 +195,7 @@ class Setup(Widget): continue_enabled = self.network_connected.is_set() self._network_setup_continue_button.enabled = continue_enabled continue_text = ("Continue" if self.wifi_connected.is_set() else "Continue without Wi-Fi") if continue_enabled else "Waiting for internet" - self._network_setup_continue_button._text = continue_text + self._network_setup_continue_button.set_text(continue_text) self._network_setup_continue_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT)) def render_software_selection(self, rect: rl.Rectangle): diff --git a/system/ui/widgets/button.py b/system/ui/widgets/button.py index 93e760260..3b31b4f78 100644 --- a/system/ui/widgets/button.py +++ b/system/ui/widgets/button.py @@ -184,14 +184,19 @@ class Button(Widget): self._button_style = button_style self._border_radius = border_radius self._font_size = font_size + self._font_weight = font_weight self._text_color = BUTTON_TEXT_COLOR[button_style] self._background_color = BUTTON_BACKGROUND_COLORS[button_style] - self._text_size = measure_text_cached(gui_app.font(font_weight), text, font_size) self._text_alignment = text_alignment self._text_padding = text_padding + self._text_size = measure_text_cached(gui_app.font(self._font_weight), self._text, self._font_size) self._icon = icon self.enabled = enabled + def set_text(self, text): + self._text = text + self._text_size = measure_text_cached(gui_app.font(self._font_weight), self._text, self._font_size) + def _handle_mouse_release(self, mouse_pos: MousePos): if self._click_callback and self.enabled: self._click_callback() From cccd60a28bf1b53ff2f134076c6ab746c17eca51 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Sun, 3 Aug 2025 00:14:36 -0700 Subject: [PATCH 040/107] ui: make wifi selection usable (#35895) * start * wrong * more * more * better * better * more better --- system/ui/lib/wifi_manager.py | 27 +++++++++++++++++++-------- system/ui/widgets/button.py | 6 +++++- system/ui/widgets/network.py | 20 +++++++++++++------- 3 files changed, 37 insertions(+), 16 deletions(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index e4ee224d5..8db12f7c4 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -441,7 +441,6 @@ class WifiManager: settings_iface.on_connection_removed(self._on_connection_removed) def _on_properties_changed(self, interface: str, changed: dict, invalidated: list): - # print("property changed", interface, changed, invalidated) if 'LastScan' in changed: asyncio.create_task(self._refresh_networks()) elif interface == NM_WIRELESS_IFACE and "ActiveAccessPoint" in changed: @@ -451,7 +450,6 @@ class WifiManager: asyncio.create_task(self._refresh_networks()) def _on_state_changed(self, new_state: int, old_state: int, reason: int): - print("State changed", new_state, old_state, reason) if new_state == NMDeviceState.ACTIVATED: if self.callbacks.activated: self.callbacks.activated() @@ -461,13 +459,16 @@ class WifiManager: for network in self.networks: network.is_connected = False + # BAD PASSWORD if new_state == NMDeviceState.NEED_AUTH and reason == NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT and self.callbacks.need_auth: if self._current_connection_ssid: + asyncio.create_task(self.forget_connection(self._current_connection_ssid)) self.callbacks.need_auth(self._current_connection_ssid) else: # Try to find the network from active_ap_path for network in self.networks: if network.path == self.active_ap_path: + asyncio.create_task(self.forget_connection(network.ssid)) self.callbacks.need_auth(network.ssid) break else: @@ -543,18 +544,28 @@ class WifiManager: flags = properties['Flags'].value wpa_flags = properties['WpaFlags'].value rsn_flags = properties['RsnFlags'].value - existing_network = network_dict.get(ssid) - if not existing_network or ((not existing_network.bssid and bssid) or (existing_network.strength < strength)): + + # May be multiple access points for each SSID. Use first for ssid + # and security type, then update the rest using all APs + if ssid not in network_dict: network_dict[ssid] = NetworkInfo( ssid=ssid, - strength=strength, + strength=0, security_type=self._get_security_type(flags, wpa_flags, rsn_flags), - path=ap_path, - bssid=bssid, - is_connected=self.active_ap_path == ap_path and self._current_connection_ssid != ssid, + path="", + bssid="", + is_connected=False, is_saved=ssid in self.saved_connections ) + existing_network = network_dict.get(ssid) + if existing_network.strength < strength: + existing_network.strength = strength + existing_network.path = ap_path + existing_network.bssid = bssid + if self.active_ap_path == ap_path: + existing_network.is_connected = self._current_connection_ssid != ssid + except DBusError as e: cloudlog.error(f"Error fetching networks: {e}") except Exception as e: diff --git a/system/ui/widgets/button.py b/system/ui/widgets/button.py index 3b31b4f78..8b7f52129 100644 --- a/system/ui/widgets/button.py +++ b/system/ui/widgets/button.py @@ -17,6 +17,7 @@ class ButtonStyle(IntEnum): LIST_ACTION = 5 # For list items with action buttons NO_EFFECT = 6 KEYBOARD = 7 + FORGET_WIFI = 8 class TextAlignment(IntEnum): @@ -40,6 +41,7 @@ BUTTON_TEXT_COLOR = { ButtonStyle.LIST_ACTION: rl.Color(228, 228, 228, 255), ButtonStyle.NO_EFFECT: rl.Color(228, 228, 228, 255), ButtonStyle.KEYBOARD: rl.Color(221, 221, 221, 255), + ButtonStyle.FORGET_WIFI: rl.Color(51, 51, 51, 255), } BUTTON_BACKGROUND_COLORS = { @@ -51,6 +53,7 @@ BUTTON_BACKGROUND_COLORS = { ButtonStyle.LIST_ACTION: rl.Color(57, 57, 57, 255), ButtonStyle.NO_EFFECT: rl.Color(51, 51, 51, 255), ButtonStyle.KEYBOARD: rl.Color(68, 68, 68, 255), + ButtonStyle.FORGET_WIFI: rl.Color(189, 189, 189, 255), } BUTTON_PRESSED_BACKGROUND_COLORS = { @@ -62,6 +65,7 @@ BUTTON_PRESSED_BACKGROUND_COLORS = { ButtonStyle.LIST_ACTION: rl.Color(74, 74, 74, 74), ButtonStyle.NO_EFFECT: rl.Color(51, 51, 51, 255), ButtonStyle.KEYBOARD: rl.Color(51, 51, 51, 255), + ButtonStyle.FORGET_WIFI: rl.Color(130, 130, 130, 255), } _pressed_buttons: set[str] = set() # Track mouse press state globally @@ -208,7 +212,7 @@ class Button(Widget): self._background_color = BUTTON_PRESSED_BACKGROUND_COLORS[self._button_style] else: self._background_color = BUTTON_BACKGROUND_COLORS[self._button_style] - else: + elif self._button_style != ButtonStyle.NO_EFFECT: self._background_color = BUTTON_DISABLED_BACKGROUND_COLOR self._text_color = BUTTON_DISABLED_TEXT_COLOR diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 052441b72..0eda418c1 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -41,6 +41,7 @@ class StateConnecting: @dataclass class StateNeedsAuth: network: NetworkInfo + retry: bool action: Literal["needs_auth"] = "needs_auth" @@ -93,8 +94,8 @@ class WifiManagerUI(Widget): return match self.state: - case StateNeedsAuth(network): - self.keyboard.set_title("Enter password", f"for {network.ssid}") + case StateNeedsAuth(network, retry): + self.keyboard.set_title("Wrong password" if retry else "Enter password", f"for {network.ssid}") self.keyboard.reset() gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(network, result)) case StateShowForgetConfirm(network): @@ -145,16 +146,20 @@ class WifiManagerUI(Widget): signal_icon_rect = rl.Rectangle(rect.x + rect.width - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE) security_icon_rect = rl.Rectangle(signal_icon_rect.x - spacing - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE) - self._networks_buttons[network.ssid].render(ssid_rect) - status_text = "" match self.state: case StateConnecting(network=connecting): if connecting.ssid == network.ssid: + self._networks_buttons[network.ssid].enabled = False status_text = "CONNECTING..." case StateForgetting(network=forgetting): if forgetting.ssid == network.ssid: + self._networks_buttons[network.ssid].enabled = False status_text = "FORGETTING..." + case _: + self._networks_buttons[network.ssid].enabled = True + + self._networks_buttons[network.ssid].render(ssid_rect) if status_text: status_text_rect = rl.Rectangle(security_icon_rect.x - 410, rect.y, 410, ITEM_HEIGHT) @@ -176,7 +181,7 @@ class WifiManagerUI(Widget): def _networks_buttons_callback(self, network): if self.scroll_panel.is_touch_valid(): if not network.is_saved and network.security_type != SecurityType.OPEN: - self.state = StateNeedsAuth(network) + self.state = StateNeedsAuth(network, False) elif not network.is_connected: self.connect_to_network(network) @@ -225,13 +230,14 @@ class WifiManagerUI(Widget): for n in self._networks: self._networks_buttons[n.ssid] = Button(n.ssid, partial(self._networks_buttons_callback, n), font_size=55, text_alignment=TextAlignment.LEFT, button_style=ButtonStyle.NO_EFFECT) - self._forget_networks_buttons[n.ssid] = Button("Forget", partial(self._forget_networks_buttons_callback, n), button_style=ButtonStyle.ACTION) + self._forget_networks_buttons[n.ssid] = Button("Forget", partial(self._forget_networks_buttons_callback, n), button_style=ButtonStyle.FORGET_WIFI, + font_size=45) def _on_need_auth(self, ssid): with self._lock: network = next((n for n in self._networks if n.ssid == ssid), None) if network: - self.state = StateNeedsAuth(network) + self.state = StateNeedsAuth(network, True) def _on_activated(self): with self._lock: From a1f073921c47787a671f89f6a2893e2ed4f1b907 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Sun, 3 Aug 2025 00:31:01 -0700 Subject: [PATCH 041/107] test_messaging: less flaky wait time check --- cereal/messaging/tests/test_messaging.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal/messaging/tests/test_messaging.py b/cereal/messaging/tests/test_messaging.py index 236922998..583eb8b0d 100644 --- a/cereal/messaging/tests/test_messaging.py +++ b/cereal/messaging/tests/test_messaging.py @@ -177,8 +177,8 @@ class TestMessaging: # wait 5 socket timeouts before sending msg = random_carstate() - delayed_send(sock_timeout*5, pub_sock, msg.to_bytes()) start_time = time.monotonic() + delayed_send(sock_timeout*5, pub_sock, msg.to_bytes()) recvd = messaging.recv_one_retry(sub_sock) assert (time.monotonic() - start_time) >= sock_timeout*5 assert isinstance(recvd, capnp._DynamicStructReader) From 56dcf71774c5a1ef20aa4aa7082bdb458285e06f Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Sun, 3 Aug 2025 01:21:40 -0700 Subject: [PATCH 042/107] ui: fix non-ascii access points --- system/ui/lib/wifi_manager.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 8db12f7c4..acdab3b41 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -535,7 +535,7 @@ class WifiManager: props_iface = await self._get_interface(NM, ap_path, NM_PROPERTIES_IFACE) properties = await props_iface.call_get_all('org.freedesktop.NetworkManager.AccessPoint') ssid_variant = properties['Ssid'].value - ssid = ''.join(chr(byte) for byte in ssid_variant) + ssid = bytes(ssid_variant).decode('utf-8') if not ssid: continue From 86146981c4721e818cb7d39b1acc1726e1247e81 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Sun, 3 Aug 2025 01:32:51 -0700 Subject: [PATCH 043/107] ui: fix connection check --- system/ui/setup.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/system/ui/setup.py b/system/ui/setup.py index 61efaa40b..2392449f9 100755 --- a/system/ui/setup.py +++ b/system/ui/setup.py @@ -103,10 +103,13 @@ class Setup(Widget): def _getting_started_button_callback(self): self.state = SetupState.NETWORK_SETUP + self.stop_network_check_thread.clear() self.start_network_check() def _software_selection_back_button_callback(self): self.state = SetupState.NETWORK_SETUP + self.stop_network_check_thread.clear() + self.start_network_check() def _software_selection_continue_button_callback(self): if self._software_selection_openpilot_button.selected: From 623de0e22a7bb4e513af356d77658edba1159c29 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Sun, 3 Aug 2025 18:22:52 +0200 Subject: [PATCH 044/107] cabana: PandaStream use noOutput safety mode instead silent (#35910) --- tools/cabana/streams/pandastream.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc index b2a006b22..a2430c665 100644 --- a/tools/cabana/streams/pandastream.cc +++ b/tools/cabana/streams/pandastream.cc @@ -24,7 +24,7 @@ bool PandaStream::connect() { return false; } - panda->set_safety_model(cereal::CarParams::SafetyModel::SILENT); + panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT); for (int bus = 0; bus < config.bus_config.size(); bus++) { panda->set_can_speed_kbps(bus, config.bus_config[bus].can_speed_kbps); From 976dfa3982890ea69a981ef9988ee8e76f2a56f0 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Sun, 3 Aug 2025 18:14:48 -0700 Subject: [PATCH 045/107] ui: multi touch keyboard support (#35912) * start * better * 2 * dumb --- system/ui/lib/application.py | 32 ++++++++++++++++++-------------- system/ui/lib/scroll_panel.py | 5 +++-- system/ui/widgets/__init__.py | 19 +++++++++++++------ system/ui/widgets/button.py | 4 +++- system/ui/widgets/keyboard.py | 10 +++++----- system/ui/widgets/list_view.py | 4 ++-- 6 files changed, 44 insertions(+), 30 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index c7fe39adf..30672fba0 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -19,6 +19,7 @@ FPS_LOG_INTERVAL = 5 # Seconds between logging FPS drops FPS_DROP_THRESHOLD = 0.9 # FPS drop threshold for triggering a warning FPS_CRITICAL_THRESHOLD = 0.5 # Critical threshold for triggering strict actions MOUSE_THREAD_RATE = 140 # touch controller runs at 140Hz +MAX_TOUCH_SLOT = 2 ENABLE_VSYNC = os.getenv("ENABLE_VSYNC", "0") == "1" SHOW_FPS = os.getenv("SHOW_FPS") == "1" @@ -58,6 +59,7 @@ class MousePos(NamedTuple): class MouseEvent(NamedTuple): pos: MousePos + slot: int left_pressed: bool left_released: bool left_down: bool @@ -67,7 +69,7 @@ class MouseEvent(NamedTuple): class MouseState: def __init__(self): self._events: deque[MouseEvent] = deque(maxlen=MOUSE_THREAD_RATE) # bound event list - self._prev_mouse_event: MouseEvent | None = None + self._prev_mouse_event: list[MouseEvent | None] = [None] * MAX_TOUCH_SLOT self._rk = Ratekeeper(MOUSE_THREAD_RATE) self._lock = threading.Lock() @@ -98,19 +100,21 @@ class MouseState: self._rk.keep_time() def _handle_mouse_event(self): - mouse_pos = rl.get_mouse_position() - ev = MouseEvent( - MousePos(mouse_pos.x, mouse_pos.y), - rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT), - rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT), - rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT), - time.monotonic(), - ) - # Only add changes - if self._prev_mouse_event is None or ev[:-1] != self._prev_mouse_event[:-1]: - with self._lock: - self._events.append(ev) - self._prev_mouse_event = ev + for slot in range(MAX_TOUCH_SLOT): + mouse_pos = rl.get_touch_position(slot) + ev = MouseEvent( + MousePos(mouse_pos.x, mouse_pos.y), + slot, + rl.is_mouse_button_pressed(slot), + rl.is_mouse_button_released(slot), + rl.is_mouse_button_down(slot), + time.monotonic(), + ) + # Only add changes + if self._prev_mouse_event[slot] is None or ev[:-1] != self._prev_mouse_event[slot][:-1]: + with self._lock: + self._events.append(ev) + self._prev_mouse_event[slot] = ev class GuiApplication: diff --git a/system/ui/lib/scroll_panel.py b/system/ui/lib/scroll_panel.py index 21b6795a7..e2296fd5e 100644 --- a/system/ui/lib/scroll_panel.py +++ b/system/ui/lib/scroll_panel.py @@ -41,8 +41,9 @@ class GuiScrollPanel: def handle_scroll(self, bounds: rl.Rectangle, content: rl.Rectangle) -> rl.Vector2: # TODO: HACK: this class is driven by mouse events, so we need to ensure we have at least one event to process - for mouse_event in gui_app.mouse_events or [MouseEvent(MousePos(0, 0), False, False, False, time.monotonic())]: - self._handle_mouse_event(mouse_event, bounds, content) + for mouse_event in gui_app.mouse_events or [MouseEvent(MousePos(0, 0), 0, False, False, False, time.monotonic())]: + if mouse_event.slot == 0: + self._handle_mouse_event(mouse_event, bounds, content) return self._offset def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, content: rl.Rectangle): diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index 7a436b8e9..2d619cbd1 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -2,7 +2,7 @@ import abc import pyray as rl from enum import IntEnum from collections.abc import Callable -from openpilot.system.ui.lib.application import gui_app, MousePos +from openpilot.system.ui.lib.application import gui_app, MousePos, MAX_TOUCH_SLOT class DialogResult(IntEnum): @@ -15,7 +15,8 @@ class Widget(abc.ABC): def __init__(self): self._rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0) self._parent_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0) - self._is_pressed = False + self._is_pressed = [False] * MAX_TOUCH_SLOT + self._multi_touch = False self._is_visible: bool | Callable[[], bool] = True self._touch_valid_callback: Callable[[], bool] | None = None @@ -31,6 +32,10 @@ class Widget(abc.ABC): def is_visible(self) -> bool: return self._is_visible() if callable(self._is_visible) else self._is_visible + @property + def is_pressed(self) -> bool: + return any(self._is_pressed) + @property def rect(self) -> rl.Rectangle: return self._rect @@ -68,17 +73,19 @@ class Widget(abc.ABC): # Keep track of whether mouse down started within the widget's rectangle for mouse_event in gui_app.mouse_events: + if not self._multi_touch and mouse_event.slot != 0: + continue if mouse_event.left_pressed and self._touch_valid(): if rl.check_collision_point_rec(mouse_event.pos, self._rect): - self._is_pressed = True + self._is_pressed[mouse_event.slot] = True elif not self._touch_valid(): - self._is_pressed = False + self._is_pressed[mouse_event.slot] = False elif mouse_event.left_released: - if self._is_pressed and rl.check_collision_point_rec(mouse_event.pos, self._rect): + if self._is_pressed[mouse_event.slot] and rl.check_collision_point_rec(mouse_event.pos, self._rect): self._handle_mouse_release(mouse_event.pos) - self._is_pressed = False + self._is_pressed[mouse_event.slot] = False return ret diff --git a/system/ui/widgets/button.py b/system/ui/widgets/button.py index 8b7f52129..04fed82b3 100644 --- a/system/ui/widgets/button.py +++ b/system/ui/widgets/button.py @@ -179,6 +179,7 @@ class Button(Widget): text_padding: int = 20, enabled: bool = True, icon = None, + multi_touch: bool = False, ): super().__init__() @@ -195,6 +196,7 @@ class Button(Widget): self._text_padding = text_padding self._text_size = measure_text_cached(gui_app.font(self._font_weight), self._text, self._font_size) self._icon = icon + self._multi_touch = multi_touch self.enabled = enabled def set_text(self, text): @@ -208,7 +210,7 @@ class Button(Widget): def _update_state(self): if self.enabled: self._text_color = BUTTON_TEXT_COLOR[self._button_style] - if self._is_pressed: + if self.is_pressed: self._background_color = BUTTON_PRESSED_BACKGROUND_COLORS[self._button_style] else: self._background_color = BUTTON_BACKGROUND_COLORS[self._button_style] diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index b34b4d6a4..388d7e266 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -98,11 +98,11 @@ class Keyboard(Widget): if key in self._key_icons: texture = self._key_icons[key] self._all_keys[key] = Button("", partial(self._key_callback, key), icon=texture, - button_style=ButtonStyle.PRIMARY if key == ENTER_KEY else ButtonStyle.KEYBOARD) + button_style=ButtonStyle.PRIMARY if key == ENTER_KEY else ButtonStyle.KEYBOARD, multi_touch=True) else: - self._all_keys[key] = Button(key, partial(self._key_callback, key), button_style=ButtonStyle.KEYBOARD, font_size=85) + self._all_keys[key] = Button(key, partial(self._key_callback, key), button_style=ButtonStyle.KEYBOARD, font_size=85, multi_touch=True) self._all_keys[CAPS_LOCK_KEY] = Button("", partial(self._key_callback, CAPS_LOCK_KEY), icon=self._key_icons[CAPS_LOCK_KEY], - button_style=ButtonStyle.KEYBOARD) + button_style=ButtonStyle.KEYBOARD, multi_touch=True) @property def text(self): @@ -143,7 +143,7 @@ class Keyboard(Widget): self._render_input_area(input_box_rect) # Process backspace key repeat if it's held down - if not self._all_keys[BACKSPACE_KEY]._is_pressed: + if not self._all_keys[BACKSPACE_KEY].is_pressed: self._backspace_pressed = False if self._backspace_pressed: @@ -179,7 +179,7 @@ class Keyboard(Widget): is_enabled = key != ENTER_KEY or len(self._input_box.text) >= self._min_text_size - if key == BACKSPACE_KEY and self._all_keys[BACKSPACE_KEY]._is_pressed and not self._backspace_pressed: + if key == BACKSPACE_KEY and self._all_keys[BACKSPACE_KEY].is_pressed and not self._backspace_pressed: self._backspace_pressed = True self._backspace_press_time = time.monotonic() self._backspace_last_repeat = time.monotonic() diff --git a/system/ui/widgets/list_view.py b/system/ui/widgets/list_view.py index aa2fdb845..e871eef0a 100644 --- a/system/ui/widgets/list_view.py +++ b/system/ui/widgets/list_view.py @@ -167,7 +167,7 @@ class MultipleButtonAction(ItemAction): # Check button state mouse_pos = rl.get_mouse_position() is_hovered = rl.check_collision_point_rec(mouse_pos, button_rect) - is_pressed = is_hovered and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self._is_pressed + is_pressed = is_hovered and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self.is_pressed is_selected = i == self.selected_button # Button colors @@ -188,7 +188,7 @@ class MultipleButtonAction(ItemAction): rl.draw_text_ex(self._font, text, rl.Vector2(text_x, text_y), 40, 0, rl.Color(228, 228, 228, 255)) # Handle click - if is_hovered and rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and self._is_pressed: + if is_hovered and rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and self.is_pressed: clicked = i if clicked >= 0: From f06c98018f0084a32f73f68c73ce9aac8786905c Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 4 Aug 2025 09:44:14 -0700 Subject: [PATCH 046/107] [bot] Update Python packages (#35915) Update Python packages Co-authored-by: Vehicle Researcher --- docs/CARS.md | 2 +- opendbc_repo | 2 +- panda | 2 +- tinygrad_repo | 2 +- uv.lock | 131 ++++++++++++++++++++++++++------------------------ 5 files changed, 72 insertions(+), 67 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index f2be4c5c9..d6107b726 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -179,7 +179,7 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Sportage Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Kia|Stinger 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| -|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| diff --git a/opendbc_repo b/opendbc_repo index c6f01a603..22b8df68f 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit c6f01a6039faeb0d54d3d5a284d7cd2422eac2a8 +Subproject commit 22b8df68fb6d8aa197fb9b432a428da6dd96c98c diff --git a/panda b/panda index 3bb456fd9..c2723b2f6 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 3bb456fd9a6cf288634725d3740dd7115db816e8 +Subproject commit c2723b2f6bcce7e2d97f685db1ec2472a8dd28f5 diff --git a/tinygrad_repo b/tinygrad_repo index 1bef2d80c..06af9f923 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 1bef2d80c18a8313dadb5f5c6379e67ef574a4d2 +Subproject commit 06af9f9236b33419f89ef3b3a5ba4cce0adecc2d diff --git a/uv.lock b/uv.lock index 3b8de83bd..dc016a0d3 100644 --- a/uv.lock +++ b/uv.lock @@ -1,5 +1,5 @@ version = 1 -revision = 2 +revision = 3 requires-python = ">=3.11, <3.13" resolution-markers = [ "python_full_version >= '3.12' and sys_platform == 'darwin'", @@ -220,11 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<83676301+jakethesnake420@users.noreply.github.com> Date: Mon, 4 Aug 2025 15:25:24 -0500 Subject: [PATCH 047/107] improved safe_ioctl (#35908) * improved safe_ioctl * readability Co-authored-by: Adeeb Shihadeh * use correct ioctl command * ameliorated api * use try/catch to prevent spi_fd leak * Update common/util.h * use correct ioctl command * error log message is more readable --------- Co-authored-by: Test User Co-authored-by: Adeeb Shihadeh --- common/util.cc | 8 ++- common/util.h | 2 +- selfdrive/pandad/spi.cc | 82 +++++++++++---------------- system/loggerd/encoder/v4l_encoder.cc | 39 +++++-------- 4 files changed, 57 insertions(+), 74 deletions(-) diff --git a/common/util.cc b/common/util.cc index 3d03c96bb..26a2bd60b 100644 --- a/common/util.cc +++ b/common/util.cc @@ -1,4 +1,5 @@ #include "common/util.h" +#include "common/swaglog.h" #include #include @@ -151,11 +152,16 @@ int safe_fflush(FILE *stream) { return ret; } -int safe_ioctl(int fd, unsigned long request, void *argp) { +int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg) { int ret; do { ret = ioctl(fd, request, argp); } while ((ret == -1) && (errno == EINTR)); + + if (ret == -1 && exception_msg) { + LOGE("safe_ioctl error: %s %s(%d) (fd: %d request: %lx argp: %p)", exception_msg, strerror(errno), errno, fd, request, argp); + throw std::runtime_error(exception_msg); + } return ret; } diff --git a/common/util.h b/common/util.h index 4fb4b13fa..f46db4d9f 100644 --- a/common/util.h +++ b/common/util.h @@ -88,7 +88,7 @@ int write_file(const char* path, const void* data, size_t size, int flags = O_WR FILE* safe_fopen(const char* filename, const char* mode); size_t safe_fwrite(const void * ptr, size_t size, size_t count, FILE * stream); int safe_fflush(FILE *stream); -int safe_ioctl(int fd, unsigned long request, void *argp); +int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg = nullptr); std::string readlink(const std::string& path); bool file_exists(const std::string& fn); diff --git a/selfdrive/pandad/spi.cc b/selfdrive/pandad/spi.cc index 108b11b9d..b6ee57801 100644 --- a/selfdrive/pandad/spi.cc +++ b/selfdrive/pandad/spi.cc @@ -66,58 +66,44 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) { // 50MHz is the max of the 845. note that some older // revs of the comma three may not support this speed uint32_t spi_speed = 50000000; - - if (!util::file_exists(SPI_DEVICE)) { - goto fail; - } - - spi_fd = open(SPI_DEVICE.c_str(), O_RDWR); - if (spi_fd < 0) { - LOGE("failed opening SPI device %d", spi_fd); - goto fail; - } - - // SPI settings - ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode); - if (ret < 0) { - LOGE("failed setting SPI mode %d", ret); - goto fail; - } - - ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed); - if (ret < 0) { - LOGE("failed setting SPI speed"); - goto fail; - } - - ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word); - if (ret < 0) { - LOGE("failed setting SPI bits per word"); - goto fail; - } - - // get hw UID/serial - ret = control_read(0xc3, 0, 0, uid, uid_len, 100); - if (ret == uid_len) { - std::stringstream stream; - for (int i = 0; i < uid_len; i++) { - stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]); + try { + if (!util::file_exists(SPI_DEVICE)) { + throw std::runtime_error("Error connecting to panda: SPI device not found"); } - hw_serial = stream.str(); - } else { - LOGD("failed to get serial %d", ret); - goto fail; - } - if (!serial.empty() && (serial != hw_serial)) { - goto fail; - } + spi_fd = open(SPI_DEVICE.c_str(), O_RDWR); + if (spi_fd < 0) { + LOGE("failed opening SPI device %d", spi_fd); + throw std::runtime_error("Error connecting to panda: failed to open SPI device"); + } + // SPI settings + util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode, "failed setting SPI mode"); + util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed, "failed setting SPI speed"); + util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word, "failed setting SPI bits per word"); + + // get hw UID/serial + ret = control_read(0xc3, 0, 0, uid, uid_len, 100); + if (ret == uid_len) { + std::stringstream stream; + for (int i = 0; i < uid_len; i++) { + stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]); + } + hw_serial = stream.str(); + } else { + LOGD("failed to get serial %d", ret); + throw std::runtime_error("Error connecting to panda: failed to get serial"); + } + + if (!serial.empty() && (serial != hw_serial)) { + throw std::runtime_error("Error connecting to panda: serial mismatch"); + } + + } catch (...) { + cleanup(); + throw; + } return; - -fail: - cleanup(); - throw std::runtime_error("Error connecting to panda"); } PandaSpiHandle::~PandaSpiHandle() { diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc index ac1da0969..e4b4c8a09 100644 --- a/system/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -24,14 +24,6 @@ */ const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0; -static void checked_ioctl(int fd, unsigned long request, void *argp) { - int ret = util::safe_ioctl(fd, request, argp); - if (ret != 0) { - LOGE("checked_ioctl failed with error %d (%d %lx %p)", errno, fd, request, argp); - assert(0); - } -} - static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=NULL, unsigned int *bytesused=NULL, unsigned int *flags=NULL, struct timeval *timestamp=NULL) { v4l2_plane plane = {0}; v4l2_buffer v4l_buf = { @@ -40,7 +32,7 @@ static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=N .m = { .planes = &plane, }, .length = 1, }; - checked_ioctl(fd, VIDIOC_DQBUF, &v4l_buf); + util::safe_ioctl(fd, VIDIOC_DQBUF, &v4l_buf, "VIDIOC_DQBUF failed"); if (index) *index = v4l_buf.index; if (bytesused) *bytesused = v4l_buf.m.planes[0].bytesused; @@ -66,8 +58,7 @@ static void queue_buffer(int fd, v4l2_buf_type buf_type, unsigned int index, Vis .flags = V4L2_BUF_FLAG_TIMESTAMP_COPY, .timestamp = timestamp }; - - checked_ioctl(fd, VIDIOC_QBUF, &v4l_buf); + 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) { @@ -76,7 +67,7 @@ static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count) .memory = V4L2_MEMORY_USERPTR, .count = count }; - checked_ioctl(fd, VIDIOC_REQBUFS, &reqbuf); + util::safe_ioctl(fd, VIDIOC_REQBUFS, &reqbuf, "VIDIOC_REQBUFS failed"); } void V4LEncoder::dequeue_handler(V4LEncoder *e) { @@ -159,7 +150,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei assert(fd >= 0); struct v4l2_capability cap; - checked_ioctl(fd, VIDIOC_QUERYCAP, &cap); + util::safe_ioctl(fd, VIDIOC_QUERYCAP, &cap, "VIDIOC_QUERYCAP failed"); LOGD("opened encoder device %s %s = %d", cap.driver, cap.card, fd); assert(strcmp((const char *)cap.driver, "msm_vidc_driver") == 0); assert(strcmp((const char *)cap.card, "msm_vidc_venc") == 0); @@ -177,7 +168,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei } } }; - checked_ioctl(fd, VIDIOC_S_FMT, &fmt_out); + util::safe_ioctl(fd, VIDIOC_S_FMT, &fmt_out, "VIDIOC_S_FMT failed"); v4l2_streamparm streamparm = { .type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, @@ -191,7 +182,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei } } }; - checked_ioctl(fd, VIDIOC_S_PARM, &streamparm); + util::safe_ioctl(fd, VIDIOC_S_PARM, &streamparm, "VIDIOC_S_PARM failed"); struct v4l2_format fmt_in = { .type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, @@ -205,7 +196,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei } } }; - checked_ioctl(fd, VIDIOC_S_FMT, &fmt_in); + util::safe_ioctl(fd, VIDIOC_S_FMT, &fmt_in, "VIDIOC_S_FMT failed"); LOGD("in buffer size %d, out buffer size %d", fmt_in.fmt.pix_mp.plane_fmt[0].sizeimage, @@ -221,7 +212,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei { .id = V4L2_CID_MPEG_VIDC_VIDEO_IDR_PERIOD, .value = 1}, }; for (auto ctrl : ctrls) { - checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl); + util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed"); } } @@ -234,7 +225,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = 0}, }; for (auto ctrl : ctrls) { - checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl); + util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed"); } } else { struct v4l2_control ctrls[] = { @@ -250,7 +241,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei { .id = V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MODE, .value = 0}, }; for (auto ctrl : ctrls) { - checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl); + util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed"); } } @@ -260,9 +251,9 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei // start encoder v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE; - checked_ioctl(fd, VIDIOC_STREAMON, &buf_type); + util::safe_ioctl(fd, VIDIOC_STREAMON, &buf_type, "VIDIOC_STREAMON failed"); buf_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE; - checked_ioctl(fd, VIDIOC_STREAMON, &buf_type); + util::safe_ioctl(fd, VIDIOC_STREAMON, &buf_type, "VIDIOC_STREAMON failed"); // queue up output buffers for (unsigned int i = 0; i < BUF_OUT_COUNT; i++) { @@ -305,7 +296,7 @@ void V4LEncoder::encoder_close() { for (int i = 0; i < BUF_IN_COUNT; i++) free_buf_in.push(i); // no frames, stop the encoder struct v4l2_encoder_cmd encoder_cmd = { .cmd = V4L2_ENC_CMD_STOP }; - checked_ioctl(fd, VIDIOC_ENCODER_CMD, &encoder_cmd); + util::safe_ioctl(fd, VIDIOC_ENCODER_CMD, &encoder_cmd, "VIDIOC_ENCODER_CMD failed"); // join waits for V4L2_QCOM_BUF_FLAG_EOS dequeue_handler_thread.join(); assert(extras.empty()); @@ -316,10 +307,10 @@ void V4LEncoder::encoder_close() { V4LEncoder::~V4LEncoder() { encoder_close(); v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE; - checked_ioctl(fd, VIDIOC_STREAMOFF, &buf_type); + util::safe_ioctl(fd, VIDIOC_STREAMOFF, &buf_type, "VIDIOC_STREAMOFF failed"); request_buffers(fd, V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, 0); buf_type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE; - checked_ioctl(fd, VIDIOC_STREAMOFF, &buf_type); + util::safe_ioctl(fd, VIDIOC_STREAMOFF, &buf_type, "VIDIOC_STREAMOFF failed"); request_buffers(fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, 0); close(fd); From 408cef2d46b5296095bde0f369d7dc3d63253992 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 4 Aug 2025 13:29:22 -0700 Subject: [PATCH 048/107] Delete Jenkins trigger comments (#35916) --- .github/workflows/jenkins-pr-trigger.yaml | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml index db1d52401..14e2fdf49 100644 --- a/.github/workflows/jenkins-pr-trigger.yaml +++ b/.github/workflows/jenkins-pr-trigger.yaml @@ -9,6 +9,9 @@ jobs: scan-comments: runs-on: ubuntu-latest if: ${{ github.event.issue.pull_request }} + permissions: + contents: write + issues: write steps: - name: Check for trigger phrase id: check_comment @@ -43,3 +46,14 @@ jobs: git config --global user.email "github-actions[bot]@users.noreply.github.com" git checkout -b tmp-jenkins-${{ github.event.issue.number }} GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }} + + - name: Delete trigger comment + if: steps.check_comment.outputs.result == 'true' && always() + uses: actions/github-script@v7 + with: + script: | + await github.rest.issues.deleteComment({ + owner: context.repo.owner, + repo: context.repo.repo, + comment_id: context.payload.comment.id, + }); From c316c400f8196c3deb737f6f50fa9c81596cebcf Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 4 Aug 2025 15:41:29 -0700 Subject: [PATCH 049/107] reset: proper button scale (#35919) * reset scale * r --- system/ui/reset.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/system/ui/reset.py b/system/ui/reset.py index 7c9500c7c..e3f9e7b2d 100755 --- a/system/ui/reset.py +++ b/system/ui/reset.py @@ -87,13 +87,15 @@ class Reset(Widget): button_width = (rect.width - button_spacing) / 2.0 if self._reset_state != ResetState.RESETTING: - if self._mode == ResetMode.RECOVER or self._reset_state == ResetState.FAILED: - self._reboot_button.render(rl.Rectangle(rect.x, button_top, rect.width, button_height)) + if self._mode == ResetMode.RECOVER: + self._reboot_button.render(rl.Rectangle(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)) if self._reset_state != ResetState.FAILED: self._confirm_button.render(rl.Rectangle(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 From 1ca8a4ca7590676a7d9d11ac7edc8e88c3a06a25 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 4 Aug 2025 15:43:50 -0700 Subject: [PATCH 050/107] raylib: bump commit --- third_party/raylib/build.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/third_party/raylib/build.sh b/third_party/raylib/build.sh index 9e85f90df..544feb1c5 100755 --- a/third_party/raylib/build.sh +++ b/third_party/raylib/build.sh @@ -30,7 +30,7 @@ fi cd raylib_repo -COMMIT=${1:-66030a7de62c9e1ee8ab30a1d657a740333bb4f2} +COMMIT=${1:-39e6d8b52db159ba2ab3214b46d89a8069e09394} git fetch origin $COMMIT git reset --hard $COMMIT git clean -xdff . From aecb6d13e7a605ee25628bdc69086960b2b3c801 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 4 Aug 2025 16:09:22 -0700 Subject: [PATCH 051/107] cabana: add independent panda lib (#35920) * cabana: add separate panda lib * cleanup --- tools/cabana/SConscript | 7 +- tools/cabana/panda.cc | 346 +++++++++++++++++++++++++++++ tools/cabana/panda.h | 95 ++++++++ tools/cabana/streams/pandastream.h | 2 +- 4 files changed, 446 insertions(+), 4 deletions(-) create mode 100644 tools/cabana/panda.cc create mode 100644 tools/cabana/panda.h diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index 91edfafe0..89be3cceb 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -15,7 +15,8 @@ else: qt_libs = ['qt_util'] + base_libs cabana_env = qt_env.Clone() -cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'usb-1.0'] + qt_libs + +cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', '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] @@ -29,7 +30,7 @@ cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/socketcans 'streams/routes.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc', 'utils/export.cc', 'utils/util.cc', 'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc', - 'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.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) @@ -40,4 +41,4 @@ output_json_file = 'tools/cabana/dbc/car_fingerprint_to_dbc.json' generate_dbc = cabana_env.Command('#' + output_json_file, ['dbc/generate_dbc_json.py'], "python3 tools/cabana/dbc/generate_dbc_json.py --out " + output_json_file) -cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/pandad", '#opendbc_repo', "#cereal", "#msgq_repo"]) +cabana_env.Depends(generate_dbc, ["#common", '#opendbc_repo', "#cereal", "#msgq_repo"]) diff --git a/tools/cabana/panda.cc b/tools/cabana/panda.cc new file mode 100644 index 000000000..0612d6774 --- /dev/null +++ b/tools/cabana/panda.cc @@ -0,0 +1,346 @@ +#include "tools/cabana/panda.h" + +#include +#include +#include +#include +#include + +#include "cereal/messaging/messaging.h" +#include "common/swaglog.h" +#include "common/util.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; +} + +Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) { + if (!init_usb_connection(serial)) { + throw std::runtime_error("Error connecting to panda"); + } + + LOGW("connected to %s over USB", serial.c_str()); + hw_type = get_hw_type(); + can_reset_communications(); +} + +Panda::~Panda() { + cleanup_usb(); +} + +bool Panda::connected() { + return connected_flag; +} + +bool Panda::comms_healthy() { + return comms_healthy_flag; +} + +std::string Panda::hw_serial() { + return hw_serial_str; +} + +std::vector Panda::list(bool usb_only) { + static std::unique_ptr context(init_usb_ctx(), libusb_exit); + + 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 Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) { + control_write(0xdc, (uint16_t)safety_model, safety_param); +} + + +cereal::PandaState::PandaType Panda::get_hw_type() { + unsigned char hw_query[1] = {0}; + + control_read(0xc1, 0, 0, hw_query, 1); + return (cereal::PandaState::PandaType)(hw_query[0]); +} + + + + +void Panda::send_heartbeat(bool engaged) { + control_write(0xf3, engaged, 0); +} + +void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) { + control_write(0xde, bus, (speed * 10)); +} + + +void Panda::set_data_speed_kbps(uint16_t bus, uint16_t speed) { + control_write(0xf9, bus, (speed * 10)); +} + + + +bool Panda::can_receive(std::vector& out_vec) { + // Check if enough space left in buffer to store RECV_SIZE data + assert(receive_buffer_size + RECV_SIZE <= sizeof(receive_buffer)); + + int recv = bulk_read(0x81, &receive_buffer[receive_buffer_size], RECV_SIZE); + if (!comms_healthy()) { + return false; + } + + bool ret = true; + if (recv > 0) { + receive_buffer_size += recv; + ret = unpack_can_buffer(receive_buffer, receive_buffer_size, out_vec); + } + return ret; +} + +void Panda::can_reset_communications() { + control_write(0xc0, 0, 0); +} + +bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector &out_vec) { + int pos = 0; + + while (pos <= size - sizeof(can_header)) { + can_header header; + memcpy(&header, &data[pos], sizeof(can_header)); + + const uint8_t data_len = dlc_to_len[header.data_len_code]; + if (pos + sizeof(can_header) + data_len > size) { + // we don't have all the data for this message yet + break; + } + + if (calculate_checksum(&data[pos], sizeof(can_header) + data_len) != 0) { + LOGE("Panda CAN checksum failed"); + size = 0; + can_reset_communications(); + return false; + } + + can_frame &canData = out_vec.emplace_back(); + canData.address = header.addr; + canData.src = header.bus + bus_offset; + if (header.rejected) { + canData.src += CAN_REJECTED_BUS_OFFSET; + } + if (header.returned) { + canData.src += CAN_RETURNED_BUS_OFFSET; + } + + canData.dat.assign((char *)&data[pos + sizeof(can_header)], data_len); + + pos += sizeof(can_header) + data_len; + } + + // move the overflowing data to the beginning of the buffer for the next round + memmove(data, &data[pos], size - pos); + size -= pos; + + return true; +} + +uint8_t Panda::calculate_checksum(uint8_t *data, uint32_t len) { + uint8_t checksum = 0U; + for (uint32_t i = 0U; i < len; i++) { + checksum ^= data[i]; + } + return checksum; +} + +// USB implementation methods +bool Panda::init_usb_connection(const std::string& serial) { + 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_str = std::string((char *)desc_serial, ret); + if (serial.empty() || serial == hw_serial_str) { + break; + } + libusb_close(dev_handle); + dev_handle = NULL; + } + } + if (dev_handle == NULL) goto fail; + libusb_free_device_list(dev_list, 1); + + 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 true; + +fail: + if (dev_list != NULL) { + libusb_free_device_list(dev_list, 1); + } + cleanup_usb(); + return false; +} + +void Panda::cleanup_usb() { + if (dev_handle) { + libusb_release_interface(dev_handle, 0); + libusb_close(dev_handle); + dev_handle = nullptr; + } + + if (ctx) { + libusb_exit(ctx); + ctx = nullptr; + } + connected_flag = false; +} + +void Panda::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_flag = false; + } +} + +int Panda::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_flag) { + return LIBUSB_ERROR_NO_DEVICE; + } + + 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_flag); + + return err; +} + +int Panda::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_flag) { + return LIBUSB_ERROR_NO_DEVICE; + } + + 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_flag); + + return err; +} + +int Panda::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { + int err; + int transferred = 0; + + if (!connected_flag) { + return 0; + } + + do { + 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_flag); + + return transferred; +} + +int Panda::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { + int err; + int transferred = 0; + + if (!connected_flag) { + return 0; + } + + 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_flag = false; + LOGE_100("overflow got 0x%x", transferred); + } else if (err != 0) { + handle_usb_issue(err, __func__); + } + } while (err != 0 && connected_flag); + + return transferred; +} diff --git a/tools/cabana/panda.h b/tools/cabana/panda.h new file mode 100644 index 000000000..d318c33f4 --- /dev/null +++ b/tools/cabana/panda.h @@ -0,0 +1,95 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include "cereal/gen/cpp/car.capnp.h" +#include "cereal/gen/cpp/log.capnp.h" +#include "panda/board/health.h" +#include "panda/board/can.h" + +#define USB_TX_SOFT_LIMIT (0x100U) +#define USBPACKET_MAX_SIZE (0x40) +#define RECV_SIZE (0x4000U) +#define TIMEOUT 0 + +#define CAN_REJECTED_BUS_OFFSET 0xC0U +#define CAN_RETURNED_BUS_OFFSET 0x80U + +#define PANDA_BUS_OFFSET 4 + +struct __attribute__((packed)) can_header { + uint8_t reserved : 1; + uint8_t bus : 3; + uint8_t data_len_code : 4; + uint8_t rejected : 1; + uint8_t returned : 1; + uint8_t extended : 1; + uint32_t addr : 29; + uint8_t checksum : 8; +}; + +struct can_frame { + long address; + std::string dat; + long src; +}; + + +class Panda { +public: + Panda(std::string serial="", uint32_t bus_offset=0); + ~Panda(); + + 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); + + // Panda functionality + cereal::PandaState::PandaType get_hw_type(); + void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U); + void send_heartbeat(bool engaged); + void set_can_speed_kbps(uint16_t bus, uint16_t speed); + void set_data_speed_kbps(uint16_t bus, uint16_t speed); + bool can_receive(std::vector& out_vec); + void can_reset_communications(); + +private: + // USB connection members + libusb_context *ctx = nullptr; + libusb_device_handle *dev_handle = nullptr; + std::string hw_serial_str; + std::atomic connected_flag = true; + std::atomic comms_healthy_flag = true; + + // CAN buffer members + uint8_t receive_buffer[RECV_SIZE + sizeof(can_header) + 64]; + uint32_t receive_buffer_size = 0; + + // Internal methods + bool init_usb_connection(const std::string& serial); + void cleanup_usb(); + void handle_usb_issue(int err, const char func[]); + 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); + bool unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector &out_vec); + uint8_t calculate_checksum(uint8_t *data, uint32_t len); +}; diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h index 826b1aa98..e17ad887f 100644 --- a/tools/cabana/streams/pandastream.h +++ b/tools/cabana/streams/pandastream.h @@ -7,7 +7,7 @@ #include #include "tools/cabana/streams/livestream.h" -#include "selfdrive/pandad/panda.h" +#include "tools/cabana/panda.h" const uint32_t speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U}; const uint32_t data_speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U, 2000U, 5000U}; From bae7a610fa3e7689e45773aca80bce81158d233d Mon Sep 17 00:00:00 2001 From: mvl-boston Date: Mon, 4 Aug 2025 19:19:26 -0400 Subject: [PATCH 052/107] Honda: allow sport gear (#35911) add honda sport gear --- selfdrive/car/car_specific.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index ea28d6156..5319d286b 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -57,7 +57,7 @@ class CarSpecificEvents: events.add(EventName.belowSteerSpeed) elif self.CP.brand == 'honda': - events = self.create_common_events(CS, CS_prev, pcm_enable=False) + events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport], pcm_enable=False) if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed: events.add(EventName.belowEngageSpeed) From 2c8415f81cc851d84b7cf8eb95428949299ba60a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 4 Aug 2025 16:21:20 -0700 Subject: [PATCH 053/107] ui.py: gas is deprecated --- tools/replay/ui.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/replay/ui.py b/tools/replay/ui.py index 6e4057990..d71d63d1c 100755 --- a/tools/replay/ui.py +++ b/tools/replay/ui.py @@ -149,7 +149,7 @@ def ui_thread(addr): plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k - plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas + plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gasDEPRECATED # TODO gas is deprecated plot_arr[-1, name_to_arr_idx['computer_gas']] = np.clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0) plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake From 1c9bbb290acf90ff39f5f2867a1e76efe09f3190 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 4 Aug 2025 17:11:53 -0700 Subject: [PATCH 054/107] run_process_on_route.py: qol improvements (#35923) * take from upstrema/exc-lat-accel * see ya * sort * rm * duh duh --- selfdrive/debug/run_process_on_route.py | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py index 2ccb0fb3e..d6743fedc 100755 --- a/selfdrive/debug/run_process_on_route.py +++ b/selfdrive/debug/run_process_on_route.py @@ -1,23 +1,25 @@ #!/usr/bin/env python3 - import argparse from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process +from openpilot.selfdrive.test.process_replay.test_processes import EXCLUDED_PROCS from openpilot.tools.lib.logreader import LogReader, save_log +ALLOW_PROCS = {c.proc_name for c in CONFIGS} + if __name__ == "__main__": parser = argparse.ArgumentParser(description="Run process on route and create new logs", formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument("--fingerprint", help="The fingerprint to use") parser.add_argument("route", help="The route name to use") - parser.add_argument("process", nargs='+', help="The process(s) to run") + parser.add_argument("--fingerprint", help="The fingerprint to use") + parser.add_argument("--whitelist-procs", nargs='*', default=ALLOW_PROCS, help="Whitelist given processes (e.g. controlsd)") + parser.add_argument("--blacklist-procs", nargs='*', default=EXCLUDED_PROCS, help="Blacklist given processes (e.g. controlsd)") args = parser.parse_args() - cfgs = [c for c in CONFIGS if c.proc_name in args.process] - - lr = LogReader(args.route) - inputs = list(lr) + allowed_procs = set(args.whitelist_procs) - set(args.blacklist_procs) + cfgs = [c for c in CONFIGS if c.proc_name in allowed_procs] + inputs = list(LogReader(args.route)) outputs = replay_process(cfgs, inputs, fingerprint=args.fingerprint) # Remove message generated by the process under test and merge in the new messages @@ -25,6 +27,6 @@ if __name__ == "__main__": inputs = [i for i in inputs if i.which() not in produces] outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime) - fn = f"{args.route.replace('/', '_')}_{'_'.join(args.process)}.zst" + fn = f"{args.route.replace('/', '_')}_{'_'.join(allowed_procs)}.zst" print(f"Saving log to {fn}") save_log(fn, outputs) From f08d95b95a9dfbadd310a2fe0a348691aa4ad5f6 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 4 Aug 2025 20:40:20 -0700 Subject: [PATCH 055/107] AGNOS 12.6 (#35922) * bump * production --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 38 ++++++------- system/hardware/tici/all-partitions.json | 72 ++++++++++++------------ 3 files changed, 56 insertions(+), 56 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index b0bff4e57..0ed1395b3 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="12.4" + export AGNOS_VERSION="12.6" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index ec2557422..7d99793a5 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -1,25 +1,25 @@ [ { "name": "xbl", - "url": "https://commadist.azureedge.net/agnosupdate/xbl-6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1.img.xz", - "hash": "6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1", - "hash_raw": "6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1", + "url": "https://commadist.azureedge.net/agnosupdate/xbl-effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b.img.xz", + "hash": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b", + "hash_raw": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b", "size": 3282256, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": "003a17ab1be68a696f7efe4c9938e8be511d4aacfc2f3211fc896bdc1681d089" + "ondevice_hash": "ed61a650bea0c56652dd0fc68465d8fc722a4e6489dc8f257630c42c6adcdc89" }, { "name": "xbl_config", - "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535.img.xz", - "hash": "63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535", - "hash_raw": "63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535", + "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c.img.xz", + "hash": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c", + "hash_raw": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c", "size": 98124, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": "2a855dd636cc94718b64bea83a44d0a31741ecaa8f72a63613ff348ec7404091" + "ondevice_hash": "b12801ffaa81e58e3cef914488d3b447e35483ba549b28c6cd9deb4814c3265f" }, { "name": "abl", @@ -56,28 +56,28 @@ }, { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-4de8f892dbac3fa3fee1efe68ca76e23e75812e81a6577d00d52e2da1ef624ef.img.xz", - "hash": "4de8f892dbac3fa3fee1efe68ca76e23e75812e81a6577d00d52e2da1ef624ef", - "hash_raw": "4de8f892dbac3fa3fee1efe68ca76e23e75812e81a6577d00d52e2da1ef624ef", - "size": 18479104, + "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz", + "hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4", + "hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4", + "size": 18515968, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": "8d7094d774faa4e801e36b403a31b53b913b31d086f4dc682d2f64710c557e8a" + "ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0" }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-4bc3951f4aa3f70c53837dc2542d8b0666d37103b353fd81417cc7de1bbebe39.img.xz", - "hash": "cccd7073d067027396f2afd49874729757db0bbbc79853a0bf2938bd356fe164", - "hash_raw": "4bc3951f4aa3f70c53837dc2542d8b0666d37103b353fd81417cc7de1bbebe39", + "url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img.xz", + "hash": "49faee0e9b084abf0ea46f87722e3366bbd0435fb6b25cce189295c1ff368da1", + "hash_raw": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643", "size": 5368709120, "sparse": true, "full_check": false, "has_ab": true, - "ondevice_hash": "c7707f16ce7d977748677cc354e250943b4ff6c21b9a19a492053d32397cf9ec", + "ondevice_hash": "db07761be0130e35a9d3ea6bec8df231260d3e767ae770850f18f10e14d0ab3f", "alt": { - "hash": "4bc3951f4aa3f70c53837dc2542d8b0666d37103b353fd81417cc7de1bbebe39", - "url": "https://commadist.azureedge.net/agnosupdate/system-4bc3951f4aa3f70c53837dc2542d8b0666d37103b353fd81417cc7de1bbebe39.img", + "hash": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643", + "url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img", "size": 5368709120 } } diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json index d28b48128..0befc9dd9 100644 --- a/system/hardware/tici/all-partitions.json +++ b/system/hardware/tici/all-partitions.json @@ -97,14 +97,14 @@ }, { "name": "persist", - "url": "https://commadist.azureedge.net/agnosupdate/persist-9814b07851292f510f3794b767489f38ab379a99f0ea75dc620ad2d3a496d54d.img.xz", - "hash": "9814b07851292f510f3794b767489f38ab379a99f0ea75dc620ad2d3a496d54d", - "hash_raw": "9814b07851292f510f3794b767489f38ab379a99f0ea75dc620ad2d3a496d54d", - "size": 33554432, + "url": "https://commadist.azureedge.net/agnosupdate/persist-d6af4ec18df180c7417353b52a9e05e43a6480b29425f087874136436cefe786.img.xz", + "hash": "d6af4ec18df180c7417353b52a9e05e43a6480b29425f087874136436cefe786", + "hash_raw": "d6af4ec18df180c7417353b52a9e05e43a6480b29425f087874136436cefe786", + "size": 4096, "sparse": false, "full_check": true, "has_ab": false, - "ondevice_hash": "9814b07851292f510f3794b767489f38ab379a99f0ea75dc620ad2d3a496d54d" + "ondevice_hash": "d6af4ec18df180c7417353b52a9e05e43a6480b29425f087874136436cefe786" }, { "name": "systemrw", @@ -130,25 +130,25 @@ }, { "name": "xbl", - "url": "https://commadist.azureedge.net/agnosupdate/xbl-6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1.img.xz", - "hash": "6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1", - "hash_raw": "6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1", + "url": "https://commadist.azureedge.net/agnosupdate/xbl-effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b.img.xz", + "hash": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b", + "hash_raw": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b", "size": 3282256, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": "003a17ab1be68a696f7efe4c9938e8be511d4aacfc2f3211fc896bdc1681d089" + "ondevice_hash": "ed61a650bea0c56652dd0fc68465d8fc722a4e6489dc8f257630c42c6adcdc89" }, { "name": "xbl_config", - "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535.img.xz", - "hash": "63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535", - "hash_raw": "63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535", + "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c.img.xz", + "hash": 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"https://commadist.azureedge.net/agnosupdate/userdata_30-d6cd68732c27595b36e4a1aa51bb41f7c7949fe4981e8b3eece48d0643e61423.img.xz", + "hash": "d1aadeda5dbcbdd0a8ee7fc71bcb2627e55dcbbba76c6b25edea02fbb22a4f5b", + "hash_raw": "d6cd68732c27595b36e4a1aa51bb41f7c7949fe4981e8b3eece48d0643e61423", "size": 32212254720, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "16e27ba3c5cf9f0394ce6235ba6021b8a2de293fdb08399f8ca832fa5e4d0b9d" + "ondevice_hash": "1d24f1b9ac849566e4e99de34d6514450763dbdc5acafeda4ed6a0c3cc2f2a77" } ] \ No newline at end of file From fb34e7ccd362421ed37bc29c306b4376bdb665a0 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 4 Aug 2025 21:06:28 -0700 Subject: [PATCH 056/107] ci: kick power watchdog on ci devices --- selfdrive/test/setup_device_ci.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh index d71769851..c4a38efa4 100755 --- a/selfdrive/test/setup_device_ci.sh +++ b/selfdrive/test/setup_device_ci.sh @@ -54,6 +54,7 @@ while true; do # /data/ciui.py & #fi + awk '{print $1}' /proc/uptime > /var/tmp/power_watchdog sleep 5s done From 112d615ac9a7687fc73c8b3fcc8e7503cbbada4f Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 4 Aug 2025 21:28:43 -0700 Subject: [PATCH 057/107] ci: fix setup device variable --- selfdrive/test/setup_device_ci.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh index c4a38efa4..98909bfb5 100755 --- a/selfdrive/test/setup_device_ci.sh +++ b/selfdrive/test/setup_device_ci.sh @@ -54,7 +54,7 @@ while true; do # /data/ciui.py & #fi - awk '{print $1}' /proc/uptime > /var/tmp/power_watchdog + awk '{print \$1}' /proc/uptime > /var/tmp/power_watchdog sleep 5s done From d7b0a5fa7e84afe98ecca0e2d4ff1a0f2f60f50d Mon Sep 17 00:00:00 2001 From: Jimmy <9859727+Quantizr@users.noreply.github.com> Date: Tue, 5 Aug 2025 13:41:41 -0700 Subject: [PATCH 058/107] Record feedback with LKAS button (#35888) * record feedback with LKAS button * fix alert test * slightly simplify feedbackd * "Audio Feedback Saved" upon time expiration or early stop * earlySend --> earlyStop * userFlag --> userBookmark * RecordAudioFeedback param/toggle * add audioFeedback test * simplify feedbackd * send bookmark regardless of toggle, show feedback event with higher priority * add userBookmark to selfdrived sm * fix mispelled param name * default off and move to main * segmentNum --> blockNum, earlyStop --> lastBlock * preserve audioFeedback * get rid of lastBlock and just send bookmark saved at the end * update raylib side * update toggle description and add raylib toggle --------- Co-authored-by: Adeeb Shihadeh --- cereal/log.capnp | 16 ++++- cereal/messaging/tests/test_pub_sub_master.py | 2 +- cereal/services.py | 4 +- common/params_keys.h | 1 + selfdrive/selfdrived/events.py | 18 ++++- selfdrive/selfdrived/selfdrived.py | 11 +-- .../test/process_replay/process_replay.py | 8 +-- selfdrive/test/test_onroad.py | 1 + selfdrive/ui/feedback/feedbackd.py | 70 +++++++++++++++++++ selfdrive/ui/layouts/main.py | 12 ++-- selfdrive/ui/layouts/settings/toggles.py | 10 +++ selfdrive/ui/qt/offroad/settings.cc | 7 ++ selfdrive/ui/qt/sidebar.cc | 6 +- selfdrive/ui/tests/test_feedbackd.py | 52 ++++++++++++++ system/loggerd/loggerd.cc | 10 +-- system/loggerd/tests/test_loggerd.py | 8 +-- system/manager/process_config.py | 1 + tools/cabana/videowidget.cc | 4 +- tools/replay/README.md | 2 +- tools/replay/consoleui.cc | 4 +- tools/replay/main.cc | 2 +- tools/replay/replay.cc | 2 +- tools/replay/timeline.cc | 6 +- tools/replay/timeline.h | 4 +- 24 files changed, 217 insertions(+), 44 deletions(-) create mode 100755 selfdrive/ui/feedback/feedbackd.py create mode 100644 selfdrive/ui/tests/test_feedbackd.py diff --git a/cereal/log.capnp b/cereal/log.capnp index b9f417026..e75684356 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -127,8 +127,9 @@ struct OnroadEvent @0xc4fa6047f024e718 { espActive @90; personalityChanged @91; aeb @92; - userFlag @95; + userBookmark @95; excessiveActuation @96; + audioFeedback @97; soundsUnavailableDEPRECATED @47; } @@ -2468,7 +2469,7 @@ struct DebugAlert { alertText2 @1 :Text; } -struct UserFlag { +struct UserBookmark @0xfe346a9de48d9b50 { } struct SoundPressure @0xdc24138990726023 { @@ -2486,6 +2487,11 @@ struct AudioData { sampleRate @1 :UInt32; } +struct AudioFeedback { + audio @0 :AudioData; + blockNum @1 :UInt16; +} + struct Touch { sec @0 :Int64; usec @1 :Int64; @@ -2586,9 +2592,13 @@ struct Event { mapRenderState @105: MapRenderState; # UI services - userFlag @93 :UserFlag; uiDebug @102 :UIDebug; + # driving feedback + userBookmark @93 :UserBookmark; + bookmarkButton @148 :UserBookmark; + audioFeedback @149 :AudioFeedback; + # *********** debug *********** testJoystick @52 :Joystick; roadEncodeData @86 :EncodeData; diff --git a/cereal/messaging/tests/test_pub_sub_master.py b/cereal/messaging/tests/test_pub_sub_master.py index e47e71339..5e26b4970 100644 --- a/cereal/messaging/tests/test_pub_sub_master.py +++ b/cereal/messaging/tests/test_pub_sub_master.py @@ -86,7 +86,7 @@ class TestSubMaster: "cameraOdometry": (20, 10), "liveCalibration": (4, 4), "carParams": (None, None), - "userFlag": (None, None), + "userBookmark": (None, None), } for service, (max_freq, min_freq) in checks.items(): diff --git a/cereal/services.py b/cereal/services.py index a13fc810f..a4c7463f2 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -72,9 +72,11 @@ _services: dict[str, tuple] = { "navRoute": (True, 0.), "navThumbnail": (True, 0.), "qRoadEncodeIdx": (False, 20.), - "userFlag": (True, 0., 1), + "userBookmark": (True, 0., 1), "soundPressure": (True, 10., 10), "rawAudioData": (False, 20.), + "bookmarkButton": (True, 0., 1), + "audioFeedback": (True, 0., 1), # debug "uiDebug": (True, 0., 1), diff --git a/common/params_keys.h b/common/params_keys.h index 5cd6f9691..3d7281bf9 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -105,6 +105,7 @@ inline static std::unordered_map keys = { {"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}}, {"PrimeType", {PERSISTENT, INT}}, {"RecordAudio", {PERSISTENT, BOOL}}, + {"RecordAudioFeedback", {PERSISTENT, BOOL, "0"}}, {"RecordFront", {PERSISTENT, BOOL}}, {"RecordFrontLock", {PERSISTENT, BOOL}}, // for the internal fleet {"SecOCKey", {PERSISTENT | DONT_LOG, STRING}}, diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index 49c2cea4a..9da7125dd 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -11,6 +11,8 @@ from openpilot.common.constants import CV from openpilot.common.git import get_short_branch from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER +from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER +from openpilot.selfdrive.ui.feedback.feedbackd import FEEDBACK_MAX_DURATION AlertSize = log.SelfdriveState.AlertSize AlertStatus = log.SelfdriveState.AlertStatus @@ -198,6 +200,7 @@ class StartupAlert(Alert): Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.), + # ********** helper functions ********** def get_display_speed(speed_ms: float, metric: bool) -> str: speed = int(round(speed_ms * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH))) @@ -252,6 +255,14 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2) +def audio_feedback_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: + duration = FEEDBACK_MAX_DURATION - ((sm['audioFeedback'].blockNum + 1) * SAMPLE_BUFFER / SAMPLE_RATE) + return NormalPermanentAlert( + "Recording Audio Feedback", + f"{round(duration)} second{'s' if round(duration) != 1 else ''} remaining. Press again to save early.", + priority=Priority.LOW) + + # *** debug alerts *** def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: @@ -370,6 +381,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin return NormalPermanentAlert("Invalid LKAS setting", text) + EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { # ********** events with no alerts ********** @@ -991,9 +1003,13 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { ET.WARNING: personality_changed_alert, }, - EventName.userFlag: { + EventName.userBookmark: { ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", duration=1.5), }, + + EventName.audioFeedback: { + ET.PERMANENT: audio_feedback_alert, + }, } diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 96077414d..61b98e988 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -95,7 +95,7 @@ class SelfdriveD: self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay', 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', - 'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userFlag'] + \ + 'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback'] + \ self.camera_packets + self.sensor_packets + self.gps_packets, ignore_alive=ignore, ignore_avg_freq=ignore, ignore_valid=ignore, frequency=int(1/DT_CTRL)) @@ -181,9 +181,12 @@ class SelfdriveD: self.events.add(EventName.selfdriveInitializing) return - # Check for user flag (bookmark) press - if self.sm.updated['userFlag']: - self.events.add(EventName.userFlag) + # Check for user bookmark press (bookmark button or end of LKAS button feedback) + if self.sm.updated['userBookmark']: + self.events.add(EventName.userBookmark) + + if self.sm.updated['audioFeedback']: + self.events.add(EventName.audioFeedback) # Don't add any more events while in dashcam mode if self.CP.passive: diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 29a268b45..56a0fdb61 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -418,10 +418,10 @@ CONFIGS = [ proc_name="selfdrived", pubs=[ "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState", - "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState", - "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", - "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput", - "gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance", "alertDebug", + "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState", "modelV2", + "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", "liveTorqueParameters", + "accelerometer", "gyroscope", "carOutput", "gpsLocationExternal", "gpsLocation", "controlsState", + "carControl", "driverAssistance", "alertDebug", "audioFeedback", ], subs=["selfdriveState", "onroadEvents"], ignore=["logMonoTime"], diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index cd702377e..935da99c1 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -55,6 +55,7 @@ PROCS = { "selfdrive.locationd.paramsd": 9.0, "selfdrive.locationd.lagd": 11.0, "selfdrive.ui.soundd": 3.0, + "selfdrive.ui.feedback.feedbackd": 1.0, "selfdrive.monitoring.dmonitoringd": 4.0, "./proclogd": 2.0, "system.logmessaged": 1.0, diff --git a/selfdrive/ui/feedback/feedbackd.py b/selfdrive/ui/feedback/feedbackd.py new file mode 100755 index 000000000..b02e5d97a --- /dev/null +++ b/selfdrive/ui/feedback/feedbackd.py @@ -0,0 +1,70 @@ +#!/usr/bin/env python3 +import cereal.messaging as messaging +from openpilot.common.params import Params +from openpilot.common.swaglog import cloudlog +from cereal import car +from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER + +FEEDBACK_MAX_DURATION = 10.0 +ButtonType = car.CarState.ButtonEvent.Type + + +def main(): + params = Params() + pm = messaging.PubMaster(['userBookmark', 'audioFeedback']) + sm = messaging.SubMaster(['rawAudioData', 'bookmarkButton', 'carState']) + should_record_audio = False + block_num = 0 + waiting_for_release = False + early_stop_triggered = False + + while True: + sm.update() + should_send_bookmark = False + + if sm.updated['carState'] and sm['carState'].canValid: + for be in sm['carState'].buttonEvents: + if be.type == ButtonType.lkas: + if be.pressed: + if not should_record_audio: + if params.get_bool("RecordAudioFeedback"): # Start recording on first press if toggle set + should_record_audio = True + block_num = 0 + waiting_for_release = False + early_stop_triggered = False + cloudlog.info("LKAS button pressed - starting 10-second audio feedback") + else: + should_send_bookmark = True # immediately send bookmark if toggle false + cloudlog.info("LKAS button pressed - bookmarking") + elif should_record_audio and not waiting_for_release: # Wait for release of second press to stop recording early + waiting_for_release = True + elif waiting_for_release: # Second press released + waiting_for_release = False + early_stop_triggered = True + cloudlog.info("LKAS button released - ending recording early") + + if should_record_audio and sm.updated['rawAudioData']: + raw_audio = sm['rawAudioData'] + msg = messaging.new_message('audioFeedback', valid=True) + msg.audioFeedback.audio.data = raw_audio.data + msg.audioFeedback.audio.sampleRate = raw_audio.sampleRate + msg.audioFeedback.blockNum = block_num + block_num += 1 + if (block_num * SAMPLE_BUFFER / SAMPLE_RATE) >= FEEDBACK_MAX_DURATION or early_stop_triggered: # Check for timeout or early stop + should_send_bookmark = True # send bookmark at end of audio segment + should_record_audio = False + early_stop_triggered = False + cloudlog.info("10-second recording completed or second button press - stopping audio feedback") + pm.send('audioFeedback', msg) + + if sm.updated['bookmarkButton']: + cloudlog.info("Bookmark button pressed!") + should_send_bookmark = True + + if should_send_bookmark: + msg = messaging.new_message('userBookmark', valid=True) + pm.send('userBookmark', msg) + + +if __name__ == '__main__': + main() diff --git a/selfdrive/ui/layouts/main.py b/selfdrive/ui/layouts/main.py index 144d34e02..3ab8525d3 100644 --- a/selfdrive/ui/layouts/main.py +++ b/selfdrive/ui/layouts/main.py @@ -19,7 +19,7 @@ class MainLayout(Widget): def __init__(self): super().__init__() - self._pm = messaging.PubMaster(['userFlag']) + self._pm = messaging.PubMaster(['bookmarkButton']) self._sidebar = Sidebar() self._current_mode = MainState.HOME @@ -40,7 +40,7 @@ class MainLayout(Widget): def _setup_callbacks(self): self._sidebar.set_callbacks(on_settings=self._on_settings_clicked, - on_flag=self._on_flag_clicked) + on_flag=self._on_bookmark_clicked) self._layouts[MainState.HOME]._setup_widget.set_open_settings_callback(lambda: self.open_settings(PanelType.FIREHOSE)) self._layouts[MainState.SETTINGS].set_callbacks(on_close=self._set_mode_for_state) self._layouts[MainState.ONROAD].set_callbacks(on_click=self._on_onroad_clicked) @@ -76,10 +76,10 @@ class MainLayout(Widget): def _on_settings_clicked(self): self.open_settings(PanelType.DEVICE) - def _on_flag_clicked(self): - user_flag = messaging.new_message('userFlag') - user_flag.valid = True - self._pm.send('userFlag', user_flag) + def _on_bookmark_clicked(self): + user_bookmark = messaging.new_message('bookmarkButton') + user_bookmark.valid = True + self._pm.send('bookmarkButton', user_bookmark) def _on_onroad_clicked(self): self._sidebar.set_visible(not self._sidebar.is_visible) diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py index 58afcec5e..ff0564a61 100644 --- a/selfdrive/ui/layouts/settings/toggles.py +++ b/selfdrive/ui/layouts/settings/toggles.py @@ -23,6 +23,10 @@ DESCRIPTIONS = { 'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.", "IsMetric": "Display speed in km/h instead of mph.", "RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.", + "RecordAudioFeedback": ( + "Press the LKAS button to record audio feedback about openpilot. When this toggle is disabled, the button acts as a bookmark button. " + + "The event will be highlighted in comma connect and the segment will be preserved on your device's storage." + ), } @@ -81,6 +85,12 @@ class TogglesLayout(Widget): self._params.get_bool("RecordAudio"), icon="microphone.png", ), + toggle_item( + "Record Audio Feedback with LKAS button", + DESCRIPTIONS["RecordAudioFeedback"], + self._params.get_bool("RecordAudioFeedback"), + icon="microphone.png", + ), toggle_item( "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="metric.png" ), diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 96734d69d..87d822bc0 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -68,6 +68,13 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { "../assets/icons/microphone.png", true, }, + { + "RecordAudioFeedback", + tr("Record Audio Feedback with LKAS button"), + tr("Press the LKAS button to record audio feedback about openpilot. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage."), + "../assets/icons/microphone.png", + false, + }, { "IsMetric", tr("Use Metric System"), diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc index e3b83573d..d88902d6b 100644 --- a/selfdrive/ui/qt/sidebar.cc +++ b/selfdrive/ui/qt/sidebar.cc @@ -38,7 +38,7 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed( QObject::connect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState); - pm = std::make_unique(std::vector{"userFlag"}); + pm = std::make_unique(std::vector{"bookmarkButton"}); } void Sidebar::mousePressEvent(QMouseEvent *event) { @@ -61,8 +61,8 @@ void Sidebar::mouseReleaseEvent(QMouseEvent *event) { } if (onroad && home_btn.contains(event->pos())) { MessageBuilder msg; - msg.initEvent().initUserFlag(); - pm->send("userFlag", msg); + msg.initEvent().initBookmarkButton(); + pm->send("bookmarkButton", msg); } else if (settings_btn.contains(event->pos())) { emit openSettings(); } else if (recording_audio && mic_indicator_btn.contains(event->pos())) { diff --git a/selfdrive/ui/tests/test_feedbackd.py b/selfdrive/ui/tests/test_feedbackd.py new file mode 100644 index 000000000..c2d81aef8 --- /dev/null +++ b/selfdrive/ui/tests/test_feedbackd.py @@ -0,0 +1,52 @@ +import pytest +import cereal.messaging as messaging +from cereal import car +from openpilot.common.params import Params +from openpilot.system.manager.process_config import managed_processes + + +class TestFeedbackd: + def setup_method(self): + self.pm = messaging.PubMaster(['carState', 'rawAudioData']) + self.sm = messaging.SubMaster(['audioFeedback']) + + def _send_lkas_button(self, pressed: bool): + msg = messaging.new_message('carState') + msg.carState.canValid = True + msg.carState.buttonEvents = [{'type': car.CarState.ButtonEvent.Type.lkas, 'pressed': pressed}] + self.pm.send('carState', msg) + + def _send_audio_data(self, count: int = 5): + for _ in range(count): + audio_msg = messaging.new_message('rawAudioData') + audio_msg.rawAudioData.data = bytes(1600) # 800 samples of int16 + audio_msg.rawAudioData.sampleRate = 16000 + self.pm.send('rawAudioData', audio_msg) + self.sm.update(timeout=100) + + @pytest.mark.parametrize("record_feedback", [False, True]) + def test_audio_feedback(self, record_feedback): + Params().put_bool("RecordAudioFeedback", record_feedback) + + managed_processes["feedbackd"].start() + assert self.pm.wait_for_readers_to_update('carState', timeout=5) + assert self.pm.wait_for_readers_to_update('rawAudioData', timeout=5) + + self._send_lkas_button(pressed=True) + self._send_audio_data() + self._send_lkas_button(pressed=False) + self._send_audio_data() + + if record_feedback: + assert self.sm.updated['audioFeedback'], "audioFeedback should be published when enabled" + else: + assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published when disabled" + + self._send_lkas_button(pressed=True) + self._send_audio_data() + self._send_lkas_button(pressed=False) + self._send_audio_data() + + assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published after second press" + + managed_processes["feedbackd"].stop() diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index 144ab9f34..21de1ff33 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -194,7 +194,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct return bytes_count; } -void handle_user_flag(LoggerdState *s) { +void handle_preserve_segment(LoggerdState *s) { static int prev_segment = -1; if (s->logger.segment() == prev_segment) return; @@ -222,7 +222,7 @@ void loggerd_thread() { typedef struct ServiceState { std::string name; int counter, freq; - bool encoder, user_flag, record_audio; + bool encoder, preserve_segment, record_audio; } ServiceState; std::unordered_map service_state; std::unordered_map remote_encoders; @@ -246,7 +246,7 @@ void loggerd_thread() { .counter = 0, .freq = it.decimation, .encoder = encoder, - .user_flag = it.name == "userFlag", + .preserve_segment = (it.name == "userBookmark") || (it.name == "audioFeedback"), .record_audio = record_audio, }; } @@ -281,8 +281,8 @@ void loggerd_thread() { if (do_exit) break; ServiceState &service = service_state[sock]; - if (service.user_flag) { - handle_user_flag(&s); + if (service.preserve_segment) { + handle_preserve_segment(&s); } // drain socket diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index 8f9d92e10..c6a4b12e6 100644 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -282,15 +282,15 @@ class TestLoggerd: sent.clear_write_flag() assert sent.to_bytes() == m.as_builder().to_bytes() - def test_preserving_flagged_segments(self): - services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) | {"userFlag"} + def test_preserving_bookmarked_segments(self): + services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) | {"userBookmark"} self._publish_random_messages(services) segment_dir = self._get_latest_log_dir() assert getxattr(segment_dir, PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE - def test_not_preserving_unflagged_segments(self): - services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userFlag"} + def test_not_preserving_nonbookmarked_segments(self): + services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userBookmark", "audioFeedback"} self._publish_random_messages(services) segment_dir = self._get_latest_log_dir() diff --git a/system/manager/process_config.py b/system/manager/process_config.py index ecd5b724c..a3787b644 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -106,6 +106,7 @@ procs = [ PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC), PythonProcess("uploader", "system.loggerd.uploader", always_run), PythonProcess("statsd", "system.statsd", always_run), + PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad), # debug procs NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar), diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index b817ae120..c857c9ffb 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -19,7 +19,7 @@ const int THUMBNAIL_MARGIN = 3; static const QColor timeline_colors[] = { [(int)TimelineType::None] = QColor(111, 143, 175), [(int)TimelineType::Engaged] = QColor(0, 163, 108), - [(int)TimelineType::UserFlag] = Qt::magenta, + [(int)TimelineType::UserBookmark] = Qt::magenta, [(int)TimelineType::AlertInfo] = Qt::green, [(int)TimelineType::AlertWarning] = QColor(255, 195, 0), [(int)TimelineType::AlertCritical] = QColor(199, 0, 57), @@ -64,7 +64,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) { Pause/Resume:  space  )").arg(timeline_colors[(int)TimelineType::None].name(), timeline_colors[(int)TimelineType::Engaged].name(), - timeline_colors[(int)TimelineType::UserFlag].name(), + timeline_colors[(int)TimelineType::UserBookmark].name(), timeline_colors[(int)TimelineType::AlertInfo].name(), timeline_colors[(int)TimelineType::AlertWarning].name(), timeline_colors[(int)TimelineType::AlertCritical].name())); diff --git a/tools/replay/README.md b/tools/replay/README.md index 8b4afb0ac..7822525ec 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -75,7 +75,7 @@ Options: --qcam load qcamera --no-hw-decoder disable HW video decoding --no-vipc do not output video - --all do output all messages including uiDebug, userFlag. + --all do output all messages including uiDebug, userBookmark. this may causes issues when used along with UI Arguments: diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc index 503902622..a4f3677ff 100644 --- a/tools/replay/consoleui.cc +++ b/tools/replay/consoleui.cc @@ -257,7 +257,7 @@ void ConsoleUI::updateTimeline() { if (entry.type == TimelineType::Engaged) { mvwchgat(win, 1, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL); mvwchgat(win, 2, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL); - } else if (entry.type == TimelineType::UserFlag) { + } else if (entry.type == TimelineType::UserBookmark) { mvwchgat(win, 3, start_pos, end_pos - start_pos + 1, ACS_S3, Color::Cyan, NULL); } else { auto color_id = Color::Green; @@ -329,7 +329,7 @@ void ConsoleUI::handleKey(char c) { } else if (c == 'd') { replay->seekToFlag(FindFlag::nextDisEngagement); } else if (c == 't') { - replay->seekToFlag(FindFlag::nextUserFlag); + replay->seekToFlag(FindFlag::nextUserBookmark); } else if (c == 'i') { replay->seekToFlag(FindFlag::nextInfo); } else if (c == 'w') { diff --git a/tools/replay/main.cc b/tools/replay/main.cc index 38a1da292..f95098507 100644 --- a/tools/replay/main.cc +++ b/tools/replay/main.cc @@ -30,7 +30,7 @@ Options: --qcam Load qcamera --no-hw-decoder Disable HW video decoding --no-vipc Do not output video - --all Output all messages including uiDebug, userFlag + --all Output all messages including uiDebug, userBookmark -h, --help Show this help message )"; diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index a8e5cd9d4..7ecad8287 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -20,7 +20,7 @@ Replay::Replay(const std::string &route, std::vector allow, std::ve std::signal(SIGUSR1, interrupt_sleep_handler); if (!(flags_ & REPLAY_FLAG_ALL_SERVICES)) { - block.insert(block.end(), {"uiDebug", "userFlag"}); + block.insert(block.end(), {"uiDebug", "userBookmark"}); } setupServices(allow, block); setupSegmentManager(!allow.empty() || !block.empty()); diff --git a/tools/replay/timeline.cc b/tools/replay/timeline.cc index a4c2ffb70..39ea8b1be 100644 --- a/tools/replay/timeline.cc +++ b/tools/replay/timeline.cc @@ -26,7 +26,7 @@ std::optional Timeline::find(double cur_ts, FindFlag flag) const { return entry.end_time; } } else if (entry.start_time > cur_ts) { - if ((flag == FindFlag::nextUserFlag && entry.type == TimelineType::UserFlag) || + if ((flag == FindFlag::nextUserBookmark && entry.type == TimelineType::UserBookmark) || (flag == FindFlag::nextInfo && entry.type == TimelineType::AlertInfo) || (flag == FindFlag::nextWarning && entry.type == TimelineType::AlertWarning) || (flag == FindFlag::nextCritical && entry.type == TimelineType::AlertCritical)) { @@ -66,8 +66,8 @@ void Timeline::buildTimeline(const Route &route, uint64_t route_start_ts, bool l auto cs = reader.getRoot().getSelfdriveState(); updateEngagementStatus(cs, current_engaged_idx, seconds); updateAlertStatus(cs, current_alert_idx, seconds); - } else if (e.which == cereal::Event::Which::USER_FLAG) { - staging_entries_.emplace_back(Entry{seconds, seconds, TimelineType::UserFlag}); + } else if (e.which == cereal::Event::Which::USER_BOOKMARK) { + staging_entries_.emplace_back(Entry{seconds, seconds, TimelineType::UserBookmark}); } } diff --git a/tools/replay/timeline.h b/tools/replay/timeline.h index 74add9e5c..9688b6b95 100644 --- a/tools/replay/timeline.h +++ b/tools/replay/timeline.h @@ -7,8 +7,8 @@ #include "tools/replay/route.h" -enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserFlag }; -enum class FindFlag { nextEngagement, nextDisEngagement, nextUserFlag, nextInfo, nextWarning, nextCritical }; +enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserBookmark }; +enum class FindFlag { nextEngagement, nextDisEngagement, nextUserBookmark, nextInfo, nextWarning, nextCritical }; class Timeline { public: From 865e6fa9d84a020017984377f8e2af909b5757dc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Aug 2025 13:42:51 -0700 Subject: [PATCH 059/107] update release notes --- RELEASES.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 58d0d07a7..2bd540f64 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,10 +1,11 @@ -Version 0.10.0 (2025-07-07) +Version 0.10.0 (2025-08-05) ======================== * New driving model * Lead car ground-truth fixes * Ported over VAE from the MLSIM stack * New training architecture described in CVPR paper * Enable live-learned steering actuation delay +* Record driving feedback using LKAS button * Opt-in audio recording for dashcam video Version 0.9.9 (2025-05-23) From c23537b4d5a5b1b3b35340aa2a6d28abb5505f1e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Aug 2025 14:55:30 -0700 Subject: [PATCH 060/107] lil copy updates --- selfdrive/selfdrived/alerts_offroad.json | 2 +- selfdrive/ui/qt/offroad/settings.cc | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/selfdrived/alerts_offroad.json b/selfdrive/selfdrived/alerts_offroad.json index 7c97f5a1c..42aca2200 100644 --- a/selfdrive/selfdrived/alerts_offroad.json +++ b/selfdrive/selfdrived/alerts_offroad.json @@ -42,7 +42,7 @@ "severity": 0 }, "Offroad_ExcessiveActuation": { - "text": "openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.", + "text": "openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting.", "severity": 1, "_comment": "Set extra field to lateral or longitudinal." } diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 87d822bc0..01761295d 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -71,7 +71,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { { "RecordAudioFeedback", tr("Record Audio Feedback with LKAS button"), - tr("Press the LKAS button to record audio feedback about openpilot. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage."), + tr("Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.\n\nNote that this feature is only compatible with select cars."), "../assets/icons/microphone.png", false, }, From bb4f9651bad75b05e243a411b916885eca8d66dc Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Tue, 5 Aug 2025 14:57:57 -0700 Subject: [PATCH 061/107] Update RELEASES.md --- RELEASES.md | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 2bd540f64..92f50201f 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -2,8 +2,7 @@ Version 0.10.0 (2025-08-05) ======================== * New driving model * Lead car ground-truth fixes - * Ported over VAE from the MLSIM stack - * New training architecture described in CVPR paper + * New training objective using MLSIM * Enable live-learned steering actuation delay * Record driving feedback using LKAS button * Opt-in audio recording for dashcam video From 2c654500d2b6c1ba86609d01fd14fe2abbf53bd0 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Aug 2025 16:07:29 -0700 Subject: [PATCH 062/107] update release README --- release/README.md | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/release/README.md b/release/README.md index 06404be6a..745161440 100644 --- a/release/README.md +++ b/release/README.md @@ -5,19 +5,21 @@ **Go to `devel-staging`** - [ ] update RELEASES.md -- [ ] update `devel-staging`: `git reset --hard origin/master-ci` +- [ ] trigger new nightly build: https://github.com/commaai/openpilot/actions/workflows/release.yaml +- [ ] update `devel-staging`: `git reset --hard origin/__nightly` - [ ] open a pull request from `devel-staging` to `devel` -- [ ] post on Discord +- [ ] post on Discord, tag `@release crew` **Go to `devel`** - [ ] bump version on master: `common/version.h` and `RELEASES.md` -- [ ] before merging the pull request +- [ ] before merging the pull request, test the following: - [ ] update from previous release -> new release - [ ] update from new release -> previous release - [ ] fresh install with `openpilot-test.comma.ai` - [ ] drive on fresh install - [ ] no submodules or LFS - [ ] check sentry, MTBF, etc. + - [ ] stress test in production **Go to `release3`** - [ ] publish the blog post From c321fa72e2c06e5e74190508bf1507c34fd7dd6f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Aug 2025 16:08:14 -0700 Subject: [PATCH 063/107] one more --- release/README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/release/README.md b/release/README.md index 745161440..8216caccc 100644 --- a/release/README.md +++ b/release/README.md @@ -4,6 +4,7 @@ ## release checklist **Go to `devel-staging`** +- [ ] make issue to track release - [ ] update RELEASES.md - [ ] trigger new nightly build: https://github.com/commaai/openpilot/actions/workflows/release.yaml - [ ] update `devel-staging`: `git reset --hard origin/__nightly` From c35494c19f7f349582a9ccbffb39aefd35db9fd6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 5 Aug 2025 16:15:07 -0700 Subject: [PATCH 064/107] Check for excessive lateral acceleration (#35921) * here? * nah card shouldn't become bloated * better * import * actually selfdrived is probably best since it already manages alerts card is car interfacing, controlsd is for calculating control input, selfdrived is rest * consistent name * add to params * ai * maybe better? * shorter * build out lockout * do * check active * descriptive * this is a terrible experience just to get lat accel * just pass sm * not iso * type * rm * math * use calibrated roll * fix * fix borkenness * cmt * compare some methods * rolling window * 1 and 2 are the same * rm it * stuff * plot * plot kf * generic implementation * adjust limits * fix from merge * clean up * revert filter to master * and here * and * run_process_on_route imps * clean up * why not * extrapolate * this doesn't generically work for angle/curvature cars Revert "extrapolate" This reverts commit 556f0c3a92b82f07ceb6422f0e39322e79a10dcd. * cmt * move * rm debug rm debug and * others use helpers * two counters might be too much to return * turn into class * clean up * cmt * kinda obvious * impossible for this not to be true, but make it explicit * clean up --- selfdrive/selfdrived/helpers.py | 53 ++++++++++++++++++++++++++++++ selfdrive/selfdrived/selfdrived.py | 28 ++++------------ 2 files changed, 60 insertions(+), 21 deletions(-) create mode 100644 selfdrive/selfdrived/helpers.py diff --git a/selfdrive/selfdrived/helpers.py b/selfdrive/selfdrived/helpers.py new file mode 100644 index 000000000..8b4213fcb --- /dev/null +++ b/selfdrive/selfdrived/helpers.py @@ -0,0 +1,53 @@ +import math +from enum import StrEnum, auto + +from cereal import car, messaging +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.locationd.helpers import Pose +from opendbc.car import ACCELERATION_DUE_TO_GRAVITY +from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX, ISO_LATERAL_ACCEL + +MIN_EXCESSIVE_ACTUATION_COUNT = int(0.25 / DT_CTRL) +MIN_LATERAL_ENGAGE_BUFFER = int(1 / DT_CTRL) + + +class ExcessiveActuationType(StrEnum): + LONGITUDINAL = auto() + LATERAL = auto() + + +class ExcessiveActuationCheck: + def __init__(self): + self._excessive_counter = 0 + self._engaged_counter = 0 + + def update(self, sm: messaging.SubMaster, CS: car.CarState, calibrated_pose: Pose) -> ExcessiveActuationType | None: + # CS.aEgo can be noisy to bumps in the road, transitioning from standstill, losing traction, etc. + # longitudinal + accel_calibrated = calibrated_pose.acceleration.x + excessive_long_actuation = sm['carControl'].longActive and (accel_calibrated > ACCEL_MAX * 2 or accel_calibrated < ACCEL_MIN * 2) + + # lateral + yaw_rate = calibrated_pose.angular_velocity.yaw + roll = sm['liveParameters'].roll + roll_compensated_lateral_accel = (CS.vEgo * yaw_rate) - (math.sin(roll) * ACCELERATION_DUE_TO_GRAVITY) + + # Prevent false positives after overriding + excessive_lat_actuation = False + self._engaged_counter = self._engaged_counter + 1 if sm['carControl'].latActive and not CS.steeringPressed else 0 + if self._engaged_counter > MIN_LATERAL_ENGAGE_BUFFER: + if abs(roll_compensated_lateral_accel) > ISO_LATERAL_ACCEL * 2: + excessive_lat_actuation = True + + # livePose acceleration can be noisy due to bad mounting or aliased livePose measurements + livepose_valid = abs(CS.aEgo - accel_calibrated) < 2 + self._excessive_counter = self._excessive_counter + 1 if livepose_valid and (excessive_long_actuation or excessive_lat_actuation) else 0 + + excessive_type = None + if self._excessive_counter > MIN_EXCESSIVE_ACTUATION_COUNT: + if excessive_long_actuation: + excessive_type = ExcessiveActuationType.LONGITUDINAL + else: + excessive_type = ExcessiveActuationType.LATERAL + + return excessive_type diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 61b98e988..89fa36c90 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -7,7 +7,6 @@ import cereal.messaging as messaging from cereal import car, log from msgq.visionipc import VisionIpcClient, VisionStreamType -from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX from openpilot.common.params import Params @@ -18,6 +17,7 @@ from openpilot.common.gps import get_gps_location_service from openpilot.selfdrive.car.car_specific import CarSpecificEvents from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose from openpilot.selfdrive.selfdrived.events import Events, ET +from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck from openpilot.selfdrive.selfdrived.state import StateMachine from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert @@ -29,7 +29,6 @@ SIMULATION = "SIMULATION" in os.environ TESTING_CLOSET = "TESTING_CLOSET" in os.environ LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()} -MIN_EXCESSIVE_ACTUATION_COUNT = int(0.25 / DT_CTRL) ThermalStatus = log.DeviceState.ThermalStatus State = log.SelfdriveState.OpenpilotState @@ -43,19 +42,6 @@ SafetyModel = car.CarParams.SafetyModel IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput) -def check_excessive_actuation(sm: messaging.SubMaster, CS: car.CarState, calibrated_pose: Pose, counter: int) -> tuple[int, bool]: - # CS.aEgo can be noisy to bumps in the road, transitioning from standstill, losing traction, etc. - accel_calibrated = calibrated_pose.acceleration.x - - # livePose acceleration can be noisy due to bad mounting or aliased livePose measurements - accel_valid = abs(CS.aEgo - accel_calibrated) < 2 - - excessive_actuation = accel_calibrated > ACCEL_MAX * 2 or accel_calibrated < ACCEL_MIN * 2 - counter = counter + 1 if sm['carControl'].longActive and excessive_actuation and accel_valid else 0 - - return counter, counter > MIN_EXCESSIVE_ACTUATION_COUNT - - class SelfdriveD: def __init__(self, CP=None): self.params = Params() @@ -74,6 +60,8 @@ class SelfdriveD: self.pose_calibrator = PoseCalibrator() self.calibrated_pose: Pose | None = None + self.excessive_actuation_check = ExcessiveActuationCheck() + self.excessive_actuation = self.params.get("Offroad_ExcessiveActuation") is not None # Setup sockets self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents']) @@ -131,8 +119,6 @@ class SelfdriveD: self.experimental_mode = False self.personality = self.params.get("LongitudinalPersonality", return_default=True) self.recalibrating_seen = False - self.excessive_actuation = self.params.get("Offroad_ExcessiveActuation") is not None - self.excessive_actuation_counter = 0 self.state_machine = StateMachine() self.rk = Ratekeeper(100, print_delay_threshold=None) @@ -252,7 +238,7 @@ class SelfdriveD: if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture: self.events.add(EventName.ldw) - # Check for excessive (longitudinal) actuation + # Check for excessive actuation if self.sm.updated['liveCalibration']: self.pose_calibrator.feed_live_calib(self.sm['liveCalibration']) if self.sm.updated['livePose']: @@ -260,9 +246,9 @@ class SelfdriveD: self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_pose) if self.calibrated_pose is not None: - self.excessive_actuation_counter, excessive_actuation = check_excessive_actuation(self.sm, CS, self.calibrated_pose, self.excessive_actuation_counter) - if not self.excessive_actuation and excessive_actuation: - set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text="longitudinal") + excessive_actuation = self.excessive_actuation_check.update(self.sm, CS, self.calibrated_pose) + if not self.excessive_actuation and excessive_actuation is not None: + set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text=str(excessive_actuation)) self.excessive_actuation = True if self.excessive_actuation: From 96313fa4c05b0713dbf76b39ea36fcb7b9455db5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 5 Aug 2025 16:29:25 -0700 Subject: [PATCH 065/107] Filename: minor refactor (#35927) * Filename * rest of refactor --- tools/lib/logreader.py | 14 +---------- tools/lib/route.py | 53 ++++++++++++++++++++++-------------------- 2 files changed, 29 insertions(+), 38 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 1075bd2f0..a2b8be870 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -21,8 +21,7 @@ from openpilot.common.swaglog import cloudlog from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url from openpilot.tools.lib.openpilotci import get_url from openpilot.tools.lib.filereader import DATA_ENDPOINT, FileReader, file_exists, internal_source_available -from openpilot.tools.lib.route import QCAMERA_FILENAMES, CAMERA_FILENAMES, DCAMERA_FILENAMES, \ - ECAMERA_FILENAMES, BOOTLOG_FILENAMES, Route, SegmentRange +from openpilot.tools.lib.route import Route, SegmentRange, FileName from openpilot.tools.lib.log_time_series import msgs_to_time_series LogMessage = type[capnp._DynamicStructReader] @@ -102,17 +101,6 @@ class ReadMode(enum.StrEnum): AUTO_INTERACTIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user -class FileName(enum.Enum): - #TODO use the ones from route.py - RLOG = ("rlog.zst", "rlog.bz2") - QLOG = ("qlog.zst", "qlog.bz2") - QCAMERA = QCAMERA_FILENAMES - FCAMERA = CAMERA_FILENAMES - ECAMERA = ECAMERA_FILENAMES - DCAMERA = DCAMERA_FILENAMES - BOOTLOG = BOOTLOG_FILENAMES - - LogPath = str | None Source = Callable[[SegmentRange, FileName], list[LogPath]] diff --git a/tools/lib/route.py b/tools/lib/route.py index 55ea956c5..9f71ef727 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -1,5 +1,6 @@ import os import re +import enum import requests from functools import cache from urllib.parse import urlparse @@ -10,14 +11,16 @@ from openpilot.tools.lib.auth_config import get_token from openpilot.tools.lib.api import APIError, CommaApi from openpilot.tools.lib.helpers import RE -QLOG_FILENAMES = ('qlog.bz2', 'qlog.zst', 'qlog') -QCAMERA_FILENAMES = ('qcamera.ts',) -LOG_FILENAMES = ('rlog.bz2', 'raw_log.bz2', 'rlog.zst', 'rlog') -CAMERA_FILENAMES = ('fcamera.hevc', 'video.hevc') -DCAMERA_FILENAMES = ('dcamera.hevc',) -ECAMERA_FILENAMES = ('ecamera.hevc',) -BOOTLOG_FILENAMES = ('bootlog.zst', 'bootlog.bz2', 'bootlog') +class FileName(enum.Enum): + #TODO use the ones from route.py + RLOG = ("rlog.zst", "rlog.bz2") + QLOG = ("qlog.zst", "qlog.bz2") + QCAMERA = ('qcamera.ts',) + FCAMERA = ('fcamera.hevc',) + ECAMERA = ('ecamera.hevc',) + DCAMERA = ('dcamera.hevc',) + BOOTLOG = ('bootlog.zst', 'bootlog.bz2') class Route: def __init__(self, name, data_dir=None): @@ -82,23 +85,23 @@ class Route: if segments.get(segment_name): segments[segment_name] = Segment( segment_name, - url if fn in LOG_FILENAMES else segments[segment_name].log_path, - url if fn in QLOG_FILENAMES else segments[segment_name].qlog_path, - url if fn in CAMERA_FILENAMES else segments[segment_name].camera_path, - url if fn in DCAMERA_FILENAMES else segments[segment_name].dcamera_path, - url if fn in ECAMERA_FILENAMES else segments[segment_name].ecamera_path, - url if fn in QCAMERA_FILENAMES else segments[segment_name].qcamera_path, + url if fn in FileName.RLOG else segments[segment_name].log_path, + url if fn in FileName.QLOG else segments[segment_name].qlog_path, + url if fn in FileName.FCAMERA else segments[segment_name].camera_path, + url if fn in FileName.DCAMERA else segments[segment_name].dcamera_path, + url if fn in FileName.ECAMERA else segments[segment_name].ecamera_path, + url if fn in FileName.QCAMERA else segments[segment_name].qcamera_path, self.metadata['url'], ) else: segments[segment_name] = Segment( segment_name, - url if fn in LOG_FILENAMES else None, - url if fn in QLOG_FILENAMES else None, - url if fn in CAMERA_FILENAMES else None, - url if fn in DCAMERA_FILENAMES else None, - url if fn in ECAMERA_FILENAMES else None, - url if fn in QCAMERA_FILENAMES else None, + url if fn in FileName.RLOG else None, + url if fn in FileName.QLOG else None, + url if fn in FileName.FCAMERA else None, + url if fn in FileName.DCAMERA else None, + url if fn in FileName.ECAMERA else None, + url if fn in FileName.QCAMERA else None, self.metadata['url'], ) @@ -136,32 +139,32 @@ class Route: for segment, files in segment_files.items(): try: - log_path = next(path for path, filename in files if filename in LOG_FILENAMES) + log_path = next(path for path, filename in files if filename in FileName.RLOG) except StopIteration: log_path = None try: - qlog_path = next(path for path, filename in files if filename in QLOG_FILENAMES) + qlog_path = next(path for path, filename in files if filename in FileName.QLOG) except StopIteration: qlog_path = None try: - camera_path = next(path for path, filename in files if filename in CAMERA_FILENAMES) + camera_path = next(path for path, filename in files if filename in FileName.FCAMERA) except StopIteration: camera_path = None try: - dcamera_path = next(path for path, filename in files if filename in DCAMERA_FILENAMES) + dcamera_path = next(path for path, filename in files if filename in FileName.DCAMERA) except StopIteration: dcamera_path = None try: - ecamera_path = next(path for path, filename in files if filename in ECAMERA_FILENAMES) + ecamera_path = next(path for path, filename in files if filename in FileName.ECAMERA) except StopIteration: ecamera_path = None try: - qcamera_path = next(path for path, filename in files if filename in QCAMERA_FILENAMES) + qcamera_path = next(path for path, filename in files if filename in FileName.QCAMERA) except StopIteration: qcamera_path = None From d15d3c73b88cf567579723ec9e65de154ef8bedc Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 5 Aug 2025 19:35:06 -0400 Subject: [PATCH 066/107] Honda: Temporary test exception for driver regen paddle (#35929) Honda: Test exception for driver regen --- selfdrive/car/tests/test_models.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 8996ad646..ab1124df1 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -430,7 +430,9 @@ class TestCarModelBase(unittest.TestCase): if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05: brake_pressed = False checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev() - checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev() + # TODO: remove this exception before closing commaai/opendbc#1100 + if not (self.CP.brand == "honda" and self.CP.flags & HondaFlags.BOSCH): + checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev() checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev() if self.CP.pcmCruise: From fbbb2ef5d003bb80c80bf2aa3f0021b814f1da9b Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 5 Aug 2025 16:57:39 -0700 Subject: [PATCH 067/107] update release checklist --- release/README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/release/README.md b/release/README.md index 8216caccc..0ceb76559 100644 --- a/release/README.md +++ b/release/README.md @@ -8,6 +8,7 @@ - [ ] update RELEASES.md - [ ] trigger new nightly build: https://github.com/commaai/openpilot/actions/workflows/release.yaml - [ ] update `devel-staging`: `git reset --hard origin/__nightly` +- [ ] build new userdata partition from `release3-staging` - [ ] open a pull request from `devel-staging` to `devel` - [ ] post on Discord, tag `@release crew` From c95cac3b06d986ae713d367ff79cc353c1ce4f96 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 5 Aug 2025 17:11:19 -0700 Subject: [PATCH 068/107] update to latest userdata partition (#35931) update --- system/hardware/tici/all-partitions.json | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json index 0befc9dd9..864854499 100644 --- a/system/hardware/tici/all-partitions.json +++ b/system/hardware/tici/all-partitions.json @@ -366,35 +366,35 @@ }, { "name": "userdata_90", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-e73116c7481cf4b1f659431c5b3cc194077385ae42946e5cb441c8c172b7499a.img.xz", - "hash": "9c507dcbe6f26952e1b5647c27d247d5d2bdf2e58b15e124e73fa361b1fb22d7", - "hash_raw": "e73116c7481cf4b1f659431c5b3cc194077385ae42946e5cb441c8c172b7499a", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-02f7abb4b667c04043c0c6950145aaebd704851261f32256d0f7e84a52059dda.img.xz", + "hash": "1eda66d4e31222fc2e792a62ae8e7d322fc643f0b23785e7527bb51a9fee97c7", + "hash_raw": "02f7abb4b667c04043c0c6950145aaebd704851261f32256d0f7e84a52059dda", "size": 96636764160, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "76e68d81908fa4331d35043939b493f54f157f9897fb9c58dfce873f6f7b8fe1" + "ondevice_hash": "679b650ee04b7b1ef610b63fde9b43569fded39ceacf88789b564de99c221ea1" }, { "name": "userdata_89", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-10517a0765492682fe780c7a55e553dd2829f4ca96e562a47dbfee9a720e8922.img.xz", - "hash": "bff7ffcf55313a4a13a4c20c553342d5ab5c1305f14e77b98e233b4fda78482b", - "hash_raw": "10517a0765492682fe780c7a55e553dd2829f4ca96e562a47dbfee9a720e8922", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-bab8399bbe3968f3c496f7bc83c2541b33acc1f47814c4ad95801bf5cb7e7588.img.xz", + "hash": "e63d3277285aae1f04fd7f4f48429ce35010f4843ab755f10d360c3aa788e484", + "hash_raw": "bab8399bbe3968f3c496f7bc83c2541b33acc1f47814c4ad95801bf5cb7e7588", "size": 95563022336, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "89fd0e51f0926cb20bec05bdba09f7d408ef15f0763509e5f2eb3a689523b22e" + "ondevice_hash": "2947374fc5980ffe3c5b94b61cc1c81bc55214f494153ed234164801731f5dc0" }, { "name": "userdata_30", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-d6cd68732c27595b36e4a1aa51bb41f7c7949fe4981e8b3eece48d0643e61423.img.xz", - "hash": "d1aadeda5dbcbdd0a8ee7fc71bcb2627e55dcbbba76c6b25edea02fbb22a4f5b", - "hash_raw": "d6cd68732c27595b36e4a1aa51bb41f7c7949fe4981e8b3eece48d0643e61423", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-22c874b4b66bbc000f3219abede8d62cb307f5786fd526a8473c61422765dea0.img.xz", + "hash": "12d9245711e8c49c51ff2c7b82d7301f2fcb1911edcddb35a105a80911859113", + "hash_raw": "22c874b4b66bbc000f3219abede8d62cb307f5786fd526a8473c61422765dea0", "size": 32212254720, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "1d24f1b9ac849566e4e99de34d6514450763dbdc5acafeda4ed6a0c3cc2f2a77" + "ondevice_hash": "03c8b65c945207f887ed6c52d38b53d53d71c8597dcb0b63dfbb11f7cfff8d2b" } ] \ No newline at end of file From 7413982f0d9a85f78f5847d9c0e1c91179c1d0fc Mon Sep 17 00:00:00 2001 From: Mitchell Goff Date: Tue, 5 Aug 2025 17:35:54 -0700 Subject: [PATCH 069/107] Lower ALLOW_THROTTLE_THRESHOLD (#35928) * Lower ALLOW_THROTTLE_THRESHOLD * Bumped process_replay refs --- selfdrive/controls/lib/longitudinal_planner.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 2149e6007..605d956b8 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -19,7 +19,7 @@ LON_MPC_STEP = 0.2 # first step is 0.2s A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6] A_CRUISE_MAX_BP = [0., 10.0, 25., 40.] CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N] -ALLOW_THROTTLE_THRESHOLD = 0.5 +ALLOW_THROTTLE_THRESHOLD = 0.4 MIN_ALLOW_THROTTLE_SPEED = 2.5 # Lookup table for turns diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index eb178b056..43f97e212 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -8ff1b4c9c7a34589142a07579b0051acddfe7699 \ No newline at end of file +62b3e8590fe85f87494517b3177a0ccaad1e17e5 \ No newline at end of file From 8c7d53004fcae9279e0279aea66a49ec41097f3d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Aug 2025 18:34:35 -0700 Subject: [PATCH 070/107] Revert "Filename: minor refactor (#35927)" This reverts commit 96313fa4c05b0713dbf76b39ea36fcb7b9455db5. --- tools/lib/logreader.py | 14 ++++++++++- tools/lib/route.py | 53 ++++++++++++++++++++---------------------- 2 files changed, 38 insertions(+), 29 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index a2b8be870..1075bd2f0 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -21,7 +21,8 @@ from openpilot.common.swaglog import cloudlog from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url from openpilot.tools.lib.openpilotci import get_url from openpilot.tools.lib.filereader import DATA_ENDPOINT, FileReader, file_exists, internal_source_available -from openpilot.tools.lib.route import Route, SegmentRange, FileName +from openpilot.tools.lib.route import QCAMERA_FILENAMES, CAMERA_FILENAMES, DCAMERA_FILENAMES, \ + ECAMERA_FILENAMES, BOOTLOG_FILENAMES, Route, SegmentRange from openpilot.tools.lib.log_time_series import msgs_to_time_series LogMessage = type[capnp._DynamicStructReader] @@ -101,6 +102,17 @@ class ReadMode(enum.StrEnum): AUTO_INTERACTIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user +class FileName(enum.Enum): + #TODO use the ones from route.py + RLOG = ("rlog.zst", "rlog.bz2") + QLOG = ("qlog.zst", "qlog.bz2") + QCAMERA = QCAMERA_FILENAMES + FCAMERA = CAMERA_FILENAMES + ECAMERA = ECAMERA_FILENAMES + DCAMERA = DCAMERA_FILENAMES + BOOTLOG = BOOTLOG_FILENAMES + + LogPath = str | None Source = Callable[[SegmentRange, FileName], list[LogPath]] diff --git a/tools/lib/route.py b/tools/lib/route.py index 9f71ef727..55ea956c5 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -1,6 +1,5 @@ import os import re -import enum import requests from functools import cache from urllib.parse import urlparse @@ -11,16 +10,14 @@ from openpilot.tools.lib.auth_config import get_token from openpilot.tools.lib.api import APIError, CommaApi from openpilot.tools.lib.helpers import RE +QLOG_FILENAMES = ('qlog.bz2', 'qlog.zst', 'qlog') +QCAMERA_FILENAMES = ('qcamera.ts',) +LOG_FILENAMES = ('rlog.bz2', 'raw_log.bz2', 'rlog.zst', 'rlog') +CAMERA_FILENAMES = ('fcamera.hevc', 'video.hevc') +DCAMERA_FILENAMES = ('dcamera.hevc',) +ECAMERA_FILENAMES = ('ecamera.hevc',) +BOOTLOG_FILENAMES = ('bootlog.zst', 'bootlog.bz2', 'bootlog') -class FileName(enum.Enum): - #TODO use the ones from route.py - RLOG = ("rlog.zst", "rlog.bz2") - QLOG = ("qlog.zst", "qlog.bz2") - QCAMERA = ('qcamera.ts',) - FCAMERA = ('fcamera.hevc',) - ECAMERA = ('ecamera.hevc',) - DCAMERA = ('dcamera.hevc',) - BOOTLOG = ('bootlog.zst', 'bootlog.bz2') class Route: def __init__(self, name, data_dir=None): @@ -85,23 +82,23 @@ class Route: if segments.get(segment_name): segments[segment_name] = Segment( segment_name, - url if fn in FileName.RLOG else segments[segment_name].log_path, - url if fn in FileName.QLOG else segments[segment_name].qlog_path, - url if fn in FileName.FCAMERA else segments[segment_name].camera_path, - url if fn in FileName.DCAMERA else segments[segment_name].dcamera_path, - url if fn in FileName.ECAMERA else segments[segment_name].ecamera_path, - url if fn in FileName.QCAMERA else segments[segment_name].qcamera_path, + url if fn in LOG_FILENAMES else segments[segment_name].log_path, + url if fn in QLOG_FILENAMES else segments[segment_name].qlog_path, + url if fn in CAMERA_FILENAMES else segments[segment_name].camera_path, + url if fn in DCAMERA_FILENAMES else segments[segment_name].dcamera_path, + url if fn in ECAMERA_FILENAMES else segments[segment_name].ecamera_path, + url if fn in QCAMERA_FILENAMES else segments[segment_name].qcamera_path, self.metadata['url'], ) else: segments[segment_name] = Segment( segment_name, - url if fn in FileName.RLOG else None, - url if fn in FileName.QLOG else None, - url if fn in FileName.FCAMERA else None, - url if fn in FileName.DCAMERA else None, - url if fn in FileName.ECAMERA else None, - url if fn in FileName.QCAMERA else None, + url if fn in LOG_FILENAMES else None, + url if fn in QLOG_FILENAMES else None, + url if fn in CAMERA_FILENAMES else None, + url if fn in DCAMERA_FILENAMES else None, + url if fn in ECAMERA_FILENAMES else None, + url if fn in QCAMERA_FILENAMES else None, self.metadata['url'], ) @@ -139,32 +136,32 @@ class Route: for segment, files in segment_files.items(): try: - log_path = next(path for path, filename in files if filename in FileName.RLOG) + log_path = next(path for path, filename in files if filename in LOG_FILENAMES) except StopIteration: log_path = None try: - qlog_path = next(path for path, filename in files if filename in FileName.QLOG) + qlog_path = next(path for path, filename in files if filename in QLOG_FILENAMES) except StopIteration: qlog_path = None try: - camera_path = next(path for path, filename in files if filename in FileName.FCAMERA) + camera_path = next(path for path, filename in files if filename in CAMERA_FILENAMES) except StopIteration: camera_path = None try: - dcamera_path = next(path for path, filename in files if filename in FileName.DCAMERA) + dcamera_path = next(path for path, filename in files if filename in DCAMERA_FILENAMES) except StopIteration: dcamera_path = None try: - ecamera_path = next(path for path, filename in files if filename in FileName.ECAMERA) + ecamera_path = next(path for path, filename in files if filename in ECAMERA_FILENAMES) except StopIteration: ecamera_path = None try: - qcamera_path = next(path for path, filename in files if filename in FileName.QCAMERA) + qcamera_path = next(path for path, filename in files if filename in QCAMERA_FILENAMES) except StopIteration: qcamera_path = None From 978d1c38f108e15c31cc743a49db458d165fe5e4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Aug 2025 19:17:58 -0700 Subject: [PATCH 071/107] clip: add speed up support (#35933) --- .gitignore | 1 + tools/clip/run.py | 11 ++++++++++- 2 files changed, 11 insertions(+), 1 deletion(-) diff --git a/.gitignore b/.gitignore index ac4021529..acc2baaf5 100644 --- a/.gitignore +++ b/.gitignore @@ -16,6 +16,7 @@ a.out /docs_site/ +*.mp4 *.dylib *.DSYM *.d diff --git a/tools/clip/run.py b/tools/clip/run.py index a84290f9c..20c55e183 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -29,7 +29,7 @@ FRAMERATE = 20 PIXEL_DEPTH = '24' RESOLUTION = '2160x1080' SECONDS_TO_WARM = 2 -PROC_WAIT_SECONDS = 30 +PROC_WAIT_SECONDS = 30*10 OPENPILOT_FONT = str(Path(BASEDIR, 'selfdrive/assets/fonts/Inter-Regular.ttf').resolve()) REPLAY = str(Path(BASEDIR, 'tools/replay/replay').resolve()) @@ -188,6 +188,7 @@ def clip( out: str, start: int, end: int, + speed: int, target_mb: int, title: str | None, ): @@ -212,6 +213,12 @@ def clip( if title: overlays.append(f"drawtext=text='{escape_ffmpeg_text(title)}':fontfile={OPENPILOT_FONT}:fontcolor=white:fontsize=32:{box_style}:x=(w-text_w)/2:y=53") + if speed > 1: + overlays += [ + f"setpts=PTS/{speed}", + "fps=60", + ] + ffmpeg_cmd = [ 'ffmpeg', '-y', '-video_size', RESOLUTION, @@ -289,6 +296,7 @@ def main(): p.add_argument('-o', '--output', help='output clip to (.mp4)', type=validate_output_file, default=DEFAULT_OUTPUT) p.add_argument('-p', '--prefix', help='openpilot prefix', default=f'clip_{randint(100, 99999)}') p.add_argument('-q', '--quality', help='quality of camera (low = qcam, high = hevc)', choices=['low', 'high'], default='high') + p.add_argument('-x', '--speed', help='record the clip at this speed multiple', type=int, default=1) p.add_argument('-s', '--start', help='start clipping at seconds', type=int) p.add_argument('-t', '--title', help='overlay this title on the video (e.g. "Chill driving across the Golden Gate Bridge")', type=validate_title) args = parse_args(p) @@ -302,6 +310,7 @@ def main(): out=args.output, start=args.start, end=args.end, + speed=args.speed, target_mb=args.file_size, title=args.title, ) From e8135c5431b8514aa7068bdb11e89f4101c62fb2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 5 Aug 2025 20:11:56 -0700 Subject: [PATCH 072/107] Update RELEASES.md --- RELEASES.md | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 92f50201f..cc07f923a 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,8 +1,12 @@ Version 0.10.0 (2025-08-05) ======================== * New driving model - * Lead car ground-truth fixes - * New training objective using MLSIM + * New training architecture + * Architecture outlined in CVPR paper: "Learning to Drive from a World Model" + * Longitudinal MPC replaced by E2E planning for experimental mode + * Lateral MPC in training replaced by E2E planning + * Low-speed lead car ground-truth fixes + * Enable live-learned steering actuation delay * Record driving feedback using LKAS button * Opt-in audio recording for dashcam video From 999db5b4269a2dee6a4d9ad33d822ab0d43309c4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 5 Aug 2025 20:14:01 -0700 Subject: [PATCH 073/107] Update RELEASES.md --- RELEASES.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index cc07f923a..545152e0f 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -3,8 +3,8 @@ Version 0.10.0 (2025-08-05) * New driving model * New training architecture * Architecture outlined in CVPR paper: "Learning to Drive from a World Model" - * Longitudinal MPC replaced by E2E planning for experimental mode - * Lateral MPC in training replaced by E2E planning + * Longitudinal MPC replaced by E2E planning from worldmodel in experimental mode + * Action from lateral MPC as training objective replaced by E2E planning from worldmodel * Low-speed lead car ground-truth fixes * Enable live-learned steering actuation delay From d1e0a60408517750059ac849543fdb1aa7f5b86c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 5 Aug 2025 20:37:09 -0700 Subject: [PATCH 074/107] Filename refactor: no enum (#35930) * conflict * typing * typing * no value * fix typing * whitespace * whitespace * unused * Reapply "Filename: minor refactor (#35927)" This reverts commit 8c7d53004fcae9279e0279aea66a49ec41097f3d. * unused import * done --- tools/lib/logreader.py | 28 +++++++--------------- tools/lib/route.py | 54 ++++++++++++++++++++++-------------------- 2 files changed, 36 insertions(+), 46 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 1075bd2f0..fa6e6357e 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -21,8 +21,7 @@ from openpilot.common.swaglog import cloudlog from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url from openpilot.tools.lib.openpilotci import get_url from openpilot.tools.lib.filereader import DATA_ENDPOINT, FileReader, file_exists, internal_source_available -from openpilot.tools.lib.route import QCAMERA_FILENAMES, CAMERA_FILENAMES, DCAMERA_FILENAMES, \ - ECAMERA_FILENAMES, BOOTLOG_FILENAMES, Route, SegmentRange +from openpilot.tools.lib.route import Route, SegmentRange, FileName from openpilot.tools.lib.log_time_series import msgs_to_time_series LogMessage = type[capnp._DynamicStructReader] @@ -102,19 +101,8 @@ class ReadMode(enum.StrEnum): AUTO_INTERACTIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user -class FileName(enum.Enum): - #TODO use the ones from route.py - RLOG = ("rlog.zst", "rlog.bz2") - QLOG = ("qlog.zst", "qlog.bz2") - QCAMERA = QCAMERA_FILENAMES - FCAMERA = CAMERA_FILENAMES - ECAMERA = ECAMERA_FILENAMES - DCAMERA = DCAMERA_FILENAMES - BOOTLOG = BOOTLOG_FILENAMES - - LogPath = str | None -Source = Callable[[SegmentRange, FileName], list[LogPath]] +Source = Callable[[SegmentRange, tuple[str, ...]], list[LogPath]] InternalUnavailableException = Exception("Internal source not available") @@ -123,7 +111,7 @@ class LogsUnavailable(Exception): pass -def comma_api_source(sr: SegmentRange, fns: FileName) -> list[LogPath]: +def comma_api_source(sr: SegmentRange, fns: tuple[str, ...]) -> list[LogPath]: route = Route(sr.route_name) # comma api will have already checked if the file exists @@ -133,21 +121,21 @@ def comma_api_source(sr: SegmentRange, fns: FileName) -> list[LogPath]: return [route.qlog_paths()[seg] for seg in sr.seg_idxs] -def internal_source(sr: SegmentRange, fns: FileName, endpoint_url: str = DATA_ENDPOINT) -> list[LogPath]: +def internal_source(sr: SegmentRange, fns: tuple[str, ...], endpoint_url: str = DATA_ENDPOINT) -> list[LogPath]: if not internal_source_available(endpoint_url): raise InternalUnavailableException def get_internal_url(sr: SegmentRange, seg, file): return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}" - return eval_source([[get_internal_url(sr, seg, fn) for fn in fns.value] for seg in sr.seg_idxs]) + return eval_source([[get_internal_url(sr, seg, fn) for fn in fns] for seg in sr.seg_idxs]) -def openpilotci_source(sr: SegmentRange, fns: FileName) -> list[LogPath]: - return eval_source([[get_url(sr.route_name, seg, fn) for fn in fns.value] for seg in sr.seg_idxs]) +def openpilotci_source(sr: SegmentRange, fns: tuple[str, ...]) -> list[LogPath]: + return eval_source([[get_url(sr.route_name, seg, fn) for fn in fns] for seg in sr.seg_idxs]) -def comma_car_segments_source(sr: SegmentRange, fns: FileName) -> list[LogPath]: +def comma_car_segments_source(sr: SegmentRange, fns: tuple[str, ...]) -> list[LogPath]: return eval_source([get_comma_segments_url(sr.route_name, seg) for seg in sr.seg_idxs]) diff --git a/tools/lib/route.py b/tools/lib/route.py index 55ea956c5..dc8bb60e8 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -1,6 +1,7 @@ import os import re import requests +from typing import TypeAlias from functools import cache from urllib.parse import urlparse from collections import defaultdict @@ -10,14 +11,15 @@ from openpilot.tools.lib.auth_config import get_token from openpilot.tools.lib.api import APIError, CommaApi from openpilot.tools.lib.helpers import RE -QLOG_FILENAMES = ('qlog.bz2', 'qlog.zst', 'qlog') -QCAMERA_FILENAMES = ('qcamera.ts',) -LOG_FILENAMES = ('rlog.bz2', 'raw_log.bz2', 'rlog.zst', 'rlog') -CAMERA_FILENAMES = ('fcamera.hevc', 'video.hevc') -DCAMERA_FILENAMES = ('dcamera.hevc',) -ECAMERA_FILENAMES = ('ecamera.hevc',) -BOOTLOG_FILENAMES = ('bootlog.zst', 'bootlog.bz2', 'bootlog') - +FileNameTuple: TypeAlias = tuple[str, ...] +class FileName: + RLOG: FileNameTuple = ("rlog.zst", "rlog.bz2") + QLOG: FileNameTuple = ("qlog.zst", "qlog.bz2") + QCAMERA: FileNameTuple = ('qcamera.ts',) + FCAMERA: FileNameTuple = ('fcamera.hevc',) + ECAMERA: FileNameTuple = ('ecamera.hevc',) + DCAMERA: FileNameTuple = ('dcamera.hevc',) + BOOTLOG: FileNameTuple = ('bootlog.zst', 'bootlog.bz2') class Route: def __init__(self, name, data_dir=None): @@ -82,23 +84,23 @@ class Route: if segments.get(segment_name): segments[segment_name] = Segment( segment_name, - url if fn in LOG_FILENAMES else segments[segment_name].log_path, - url if fn in QLOG_FILENAMES else segments[segment_name].qlog_path, - url if fn in CAMERA_FILENAMES else segments[segment_name].camera_path, - url if fn in DCAMERA_FILENAMES else segments[segment_name].dcamera_path, - url if fn in ECAMERA_FILENAMES else segments[segment_name].ecamera_path, - url if fn in QCAMERA_FILENAMES else segments[segment_name].qcamera_path, + url if fn in FileName.RLOG else segments[segment_name].log_path, + url if fn in FileName.QLOG else segments[segment_name].qlog_path, + url if fn in FileName.FCAMERA else segments[segment_name].camera_path, + url if fn in FileName.DCAMERA else segments[segment_name].dcamera_path, + url if fn in FileName.ECAMERA else segments[segment_name].ecamera_path, + url if fn in FileName.QCAMERA else segments[segment_name].qcamera_path, self.metadata['url'], ) else: segments[segment_name] = Segment( segment_name, - url if fn in LOG_FILENAMES else None, - url if fn in QLOG_FILENAMES else None, - url if fn in CAMERA_FILENAMES else None, - url if fn in DCAMERA_FILENAMES else None, - url if fn in ECAMERA_FILENAMES else None, - url if fn in QCAMERA_FILENAMES else None, + url if fn in FileName.RLOG else None, + url if fn in FileName.QLOG else None, + url if fn in FileName.FCAMERA else None, + url if fn in FileName.DCAMERA else None, + url if fn in FileName.ECAMERA else None, + url if fn in FileName.QCAMERA else None, self.metadata['url'], ) @@ -136,32 +138,32 @@ class Route: for segment, files in segment_files.items(): try: - log_path = next(path for path, filename in files if filename in LOG_FILENAMES) + log_path = next(path for path, filename in files if filename in FileName.RLOG) except StopIteration: log_path = None try: - qlog_path = next(path for path, filename in files if filename in QLOG_FILENAMES) + qlog_path = next(path for path, filename in files if filename in FileName.QLOG) except StopIteration: qlog_path = None try: - camera_path = next(path for path, filename in files if filename in CAMERA_FILENAMES) + camera_path = next(path for path, filename in files if filename in FileName.FCAMERA) except StopIteration: camera_path = None try: - dcamera_path = next(path for path, filename in files if filename in DCAMERA_FILENAMES) + dcamera_path = next(path for path, filename in files if filename in FileName.DCAMERA) except StopIteration: dcamera_path = None try: - ecamera_path = next(path for path, filename in files if filename in ECAMERA_FILENAMES) + ecamera_path = next(path for path, filename in files if filename in FileName.ECAMERA) except StopIteration: ecamera_path = None try: - qcamera_path = next(path for path, filename in files if filename in QCAMERA_FILENAMES) + qcamera_path = next(path for path, filename in files if filename in FileName.QCAMERA) except StopIteration: qcamera_path = None From 69ca699773dbacbd21d801a472ff5bb907b8b56e Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 5 Aug 2025 21:50:30 -0700 Subject: [PATCH 075/107] clip: fix params (#35934) fix --- common/params_pyx.pyx | 15 ++++++++++----- tools/clip/run.py | 2 +- 2 files changed, 11 insertions(+), 6 deletions(-) diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx index 1c76e7584..93c550f22 100644 --- a/common/params_pyx.pyx +++ b/common/params_pyx.pyx @@ -102,14 +102,14 @@ cdef class Params: return cast(value) raise TypeError(f"Type mismatch while writing param {key}: {proposed_type=} {expected_type=} {value=}") - def cpp2python(self, t, value, default, key): + def _cpp2python(self, t, value, default, key): if value is None: return None try: return CPP_2_PYTHON[t](value) except (KeyError, TypeError, ValueError): cloudlog.warning(f"Failed to cast param {key} with {value=} from type {t=}") - return self.cpp2python(t, default, None, key) + return self._cpp2python(t, default, None, key) def get(self, key, bool block=False, bool return_default=False): cdef string k = self.check_key(key) @@ -126,8 +126,8 @@ cdef class Params: # it means we got an interrupt while waiting raise KeyboardInterrupt else: - return self.cpp2python(t, default_val, None, key) - return self.cpp2python(t, val, default_val, key) + return self._cpp2python(t, default_val, None, key) + return self._cpp2python(t, val, default_val, key) def get_bool(self, key, bool block=False): cdef string k = self.check_key(key) @@ -188,4 +188,9 @@ cdef class Params: cdef string k = self.check_key(key) cdef ParamKeyType t = self.p.getKeyType(k) cdef optional[string] default = self.p.getKeyDefaultValue(k) - return self.cpp2python(t, default.value(), None, key) if default.has_value() else None + return self._cpp2python(t, default.value(), None, key) if default.has_value() else None + + def cpp2python(self, key, value): + cdef string k = self.check_key(key) + cdef ParamKeyType t = self.p.getKeyType(k) + return self._cpp2python(t, value, None, key) diff --git a/tools/clip/run.py b/tools/clip/run.py index 20c55e183..792075144 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -130,7 +130,7 @@ def populate_car_params(lr: LogReader): for cp in entries: key, value = cp.key, cp.value try: - params.put(key, value) + params.put(key, params.cpp2python(key, value)) except UnknownKeyName: # forks of openpilot may have other Params keys configured. ignore these logger.warning(f"unknown Params key '{key}', skipping") From 5e6f9422347ef7c75faad59943f1c8a0cb1b60eb Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 5 Aug 2025 22:02:10 -0700 Subject: [PATCH 076/107] gitignore .cache/ from clangd --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index acc2baaf5..8dc8f41de 100644 --- a/.gitignore +++ b/.gitignore @@ -13,6 +13,7 @@ venv/ model2.png a.out .hypothesis +.cache/ /docs_site/ From eca2f403414b97edb0cde3abcb756fbe194b4059 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 5 Aug 2025 23:08:09 -0700 Subject: [PATCH 077/107] selfdrive.ui.feedback: add init (#35935) add init --- selfdrive/ui/feedback/__init__.py | 2 ++ 1 file changed, 2 insertions(+) create mode 100644 selfdrive/ui/feedback/__init__.py diff --git a/selfdrive/ui/feedback/__init__.py b/selfdrive/ui/feedback/__init__.py new file mode 100644 index 000000000..139597f9c --- /dev/null +++ b/selfdrive/ui/feedback/__init__.py @@ -0,0 +1,2 @@ + + From ac3d96d2fd95e3cd196204eba72fb88a2b511921 Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Tue, 5 Aug 2025 23:11:19 -0700 Subject: [PATCH 078/107] Revert "selfdrive.ui.feedback: add init (#35935)" This reverts commit eca2f403414b97edb0cde3abcb756fbe194b4059. --- selfdrive/ui/feedback/__init__.py | 2 -- 1 file changed, 2 deletions(-) delete mode 100644 selfdrive/ui/feedback/__init__.py diff --git a/selfdrive/ui/feedback/__init__.py b/selfdrive/ui/feedback/__init__.py deleted file mode 100644 index 139597f9c..000000000 --- a/selfdrive/ui/feedback/__init__.py +++ /dev/null @@ -1,2 +0,0 @@ - - From c236f472a9ac2fec1106c99bad1953a990b03e01 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Wed, 6 Aug 2025 20:53:57 +0200 Subject: [PATCH 079/107] update ISO_LATERAL_ACCEL import + VM changes (#35865) * refactor: move lateral methods from init to lateral.py (#2594) * Extracting lateral methods to lateral.py * cleaning * more cleaning * more cleaning * Making sure it remains where it should * Leave rate_limit where it belongs * Moving things to `car/controls/` * Moving rate limit to get a taste of the changes * clean * copy verbatim * clean up * more * now we can format --------- Co-authored-by: Shane Smiskol * Merge branch 'master' into move-common-vm-methods. dunno what happend with ci * now we need to move this import * bump opendbc --------- Co-authored-by: Shane Smiskol Co-authored-by: Adeeb Shihadeh --- opendbc_repo | 2 +- selfdrive/selfdrived/helpers.py | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 22b8df68f..adb600164 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 22b8df68fb6d8aa197fb9b432a428da6dd96c98c +Subproject commit adb6001649c0cc022873739187652b0014483dd3 diff --git a/selfdrive/selfdrived/helpers.py b/selfdrive/selfdrived/helpers.py index 8b4213fcb..f7468cbe4 100644 --- a/selfdrive/selfdrived/helpers.py +++ b/selfdrive/selfdrived/helpers.py @@ -5,7 +5,8 @@ from cereal import car, messaging from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.locationd.helpers import Pose from opendbc.car import ACCELERATION_DUE_TO_GRAVITY -from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX, ISO_LATERAL_ACCEL +from opendbc.car.lateral import ISO_LATERAL_ACCEL +from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX MIN_EXCESSIVE_ACTUATION_COUNT = int(0.25 / DT_CTRL) MIN_LATERAL_ENGAGE_BUFFER = int(1 / DT_CTRL) From 839a7733450e964ad8568f03efffd6cfed373389 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Wed, 6 Aug 2025 16:11:07 -0400 Subject: [PATCH 080/107] enable lateral accel factor learning for Honda (#35936) enable torqued for Honda --- selfdrive/locationd/torqued.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 3aafbd591..71b5291df 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -32,7 +32,7 @@ MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100]) MIN_ENGAGE_BUFFER = 2 # secs VERSION = 1 # bump this to invalidate old parameter caches -ALLOWED_CARS = ['toyota', 'hyundai', 'rivian'] +ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda'] def slope2rot(slope): From 52a4b52628c1390a892659f1945a2011b5d25ec1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 6 Aug 2025 14:07:02 -0700 Subject: [PATCH 081/107] FileName clean up (#35938) two spaces! --- tools/lib/logreader.py | 11 ++++++----- tools/lib/route.py | 18 +++++++++--------- 2 files changed, 15 insertions(+), 14 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index fa6e6357e..5915f1dde 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -102,7 +102,8 @@ class ReadMode(enum.StrEnum): LogPath = str | None -Source = Callable[[SegmentRange, tuple[str, ...]], list[LogPath]] +LogFileName = tuple[str, ...] +Source = Callable[[SegmentRange, LogFileName], list[LogPath]] InternalUnavailableException = Exception("Internal source not available") @@ -111,7 +112,7 @@ class LogsUnavailable(Exception): pass -def comma_api_source(sr: SegmentRange, fns: tuple[str, ...]) -> list[LogPath]: +def comma_api_source(sr: SegmentRange, fns: LogFileName) -> list[LogPath]: route = Route(sr.route_name) # comma api will have already checked if the file exists @@ -121,7 +122,7 @@ def comma_api_source(sr: SegmentRange, fns: tuple[str, ...]) -> list[LogPath]: return [route.qlog_paths()[seg] for seg in sr.seg_idxs] -def internal_source(sr: SegmentRange, fns: tuple[str, ...], endpoint_url: str = DATA_ENDPOINT) -> list[LogPath]: +def internal_source(sr: SegmentRange, fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> list[LogPath]: if not internal_source_available(endpoint_url): raise InternalUnavailableException @@ -131,11 +132,11 @@ def internal_source(sr: SegmentRange, fns: tuple[str, ...], endpoint_url: str = return eval_source([[get_internal_url(sr, seg, fn) for fn in fns] for seg in sr.seg_idxs]) -def openpilotci_source(sr: SegmentRange, fns: tuple[str, ...]) -> list[LogPath]: +def openpilotci_source(sr: SegmentRange, fns: LogFileName) -> list[LogPath]: return eval_source([[get_url(sr.route_name, seg, fn) for fn in fns] for seg in sr.seg_idxs]) -def comma_car_segments_source(sr: SegmentRange, fns: tuple[str, ...]) -> list[LogPath]: +def comma_car_segments_source(sr: SegmentRange, fns: LogFileName) -> list[LogPath]: return eval_source([get_comma_segments_url(sr.route_name, seg) for seg in sr.seg_idxs]) diff --git a/tools/lib/route.py b/tools/lib/route.py index dc8bb60e8..882585a15 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -1,7 +1,6 @@ import os import re import requests -from typing import TypeAlias from functools import cache from urllib.parse import urlparse from collections import defaultdict @@ -11,15 +10,16 @@ from openpilot.tools.lib.auth_config import get_token from openpilot.tools.lib.api import APIError, CommaApi from openpilot.tools.lib.helpers import RE -FileNameTuple: TypeAlias = tuple[str, ...] + class FileName: - RLOG: FileNameTuple = ("rlog.zst", "rlog.bz2") - QLOG: FileNameTuple = ("qlog.zst", "qlog.bz2") - QCAMERA: FileNameTuple = ('qcamera.ts',) - FCAMERA: FileNameTuple = ('fcamera.hevc',) - ECAMERA: FileNameTuple = ('ecamera.hevc',) - DCAMERA: FileNameTuple = ('dcamera.hevc',) - BOOTLOG: FileNameTuple = ('bootlog.zst', 'bootlog.bz2') + RLOG = ("rlog.zst", "rlog.bz2") + QLOG = ("qlog.zst", "qlog.bz2") + QCAMERA = ('qcamera.ts',) + FCAMERA = ('fcamera.hevc',) + ECAMERA = ('ecamera.hevc',) + DCAMERA = ('dcamera.hevc',) + BOOTLOG = ('bootlog.zst', 'bootlog.bz2') + class Route: def __init__(self, name, data_dir=None): From 3a78eee2f9c65fb12200d01138795e419b581ce7 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 6 Aug 2025 16:04:19 -0700 Subject: [PATCH 082/107] ui: emoji (#35913) * emoji * label * back * default * type * more * ico * device * clean * brew --- system/ui/lib/emoji.py | 47 +++++++++++++++++++++ system/ui/widgets/button.py | 69 ++++++++---------------------- system/ui/widgets/label.py | 83 ++++++++++++++++++++++++++++++++++++- tools/mac_setup.sh | 1 + 4 files changed, 148 insertions(+), 52 deletions(-) create mode 100644 system/ui/lib/emoji.py diff --git a/system/ui/lib/emoji.py b/system/ui/lib/emoji.py new file mode 100644 index 000000000..28139158a --- /dev/null +++ b/system/ui/lib/emoji.py @@ -0,0 +1,47 @@ +import io +import re + +from PIL import Image, ImageDraw, ImageFont +import pyray as rl + +_cache: dict[str, rl.Texture] = {} + +EMOJI_REGEX = re.compile( +"""[\U0001F600-\U0001F64F +\U0001F300-\U0001F5FF +\U0001F680-\U0001F6FF +\U0001F1E0-\U0001F1FF +\U00002700-\U000027BF +\U0001F900-\U0001F9FF +\U00002600-\U000026FF +\U00002300-\U000023FF +\U00002B00-\U00002BFF +\U0001FA70-\U0001FAFF +\U0001F700-\U0001F77F +\u2640-\u2642 +\u2600-\u2B55 +\u200d +\u23cf +\u23e9 +\u231a +\ufe0f +\u3030 +]+""", + flags=re.UNICODE +) + +def find_emoji(text): + return [(m.start(), m.end(), m.group()) for m in EMOJI_REGEX.finditer(text)] + +def emoji_tex(emoji): + if emoji not in _cache: + img = Image.new("RGBA", (128, 128), (0, 0, 0, 0)) + draw = ImageDraw.Draw(img) + font = ImageFont.truetype("NotoColorEmoji", 109) + draw.text((0, 0), emoji, font=font, embedded_color=True) + buffer = io.BytesIO() + img.save(buffer, format="PNG") + l = buffer.tell() + buffer.seek(0) + _cache[emoji] = rl.load_texture_from_image(rl.load_image_from_memory(".png", buffer.getvalue(), l)) + return _cache[emoji] diff --git a/system/ui/widgets/button.py b/system/ui/widgets/button.py index 04fed82b3..5113b61db 100644 --- a/system/ui/widgets/button.py +++ b/system/ui/widgets/button.py @@ -6,6 +6,7 @@ import pyray as rl from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.widgets import Widget +from openpilot.system.ui.widgets.label import TextAlignment, Label class ButtonStyle(IntEnum): @@ -20,12 +21,6 @@ class ButtonStyle(IntEnum): FORGET_WIFI = 8 -class TextAlignment(IntEnum): - LEFT = 0 - CENTER = 1 - RIGHT = 2 - - ICON_PADDING = 15 DEFAULT_BUTTON_FONT_SIZE = 60 BUTTON_DISABLED_TEXT_COLOR = rl.Color(228, 228, 228, 51) @@ -183,25 +178,19 @@ class Button(Widget): ): super().__init__() - self._text = text - self._click_callback = click_callback - self._label_font = gui_app.font(FontWeight.SEMI_BOLD) self._button_style = button_style self._border_radius = border_radius - self._font_size = font_size - self._font_weight = font_weight - self._text_color = BUTTON_TEXT_COLOR[button_style] - self._background_color = BUTTON_BACKGROUND_COLORS[button_style] - self._text_alignment = text_alignment - self._text_padding = text_padding - self._text_size = measure_text_cached(gui_app.font(self._font_weight), self._text, self._font_size) - self._icon = icon + self._background_color = BUTTON_BACKGROUND_COLORS[self._button_style] + + self._label = Label(text, font_size, font_weight, text_alignment, text_padding, + BUTTON_TEXT_COLOR[self._button_style], icon=icon) + + self._click_callback = click_callback self._multi_touch = multi_touch self.enabled = enabled def set_text(self, text): - self._text = text - self._text_size = measure_text_cached(gui_app.font(self._font_weight), self._text, self._font_size) + self._label.set_text(text) def _handle_mouse_release(self, mouse_pos: MousePos): if self._click_callback and self.enabled: @@ -209,44 +198,20 @@ class Button(Widget): def _update_state(self): if self.enabled: - self._text_color = BUTTON_TEXT_COLOR[self._button_style] + self._label.set_text_color(BUTTON_TEXT_COLOR[self._button_style]) if self.is_pressed: self._background_color = BUTTON_PRESSED_BACKGROUND_COLORS[self._button_style] else: self._background_color = BUTTON_BACKGROUND_COLORS[self._button_style] elif self._button_style != ButtonStyle.NO_EFFECT: self._background_color = BUTTON_DISABLED_BACKGROUND_COLOR - self._text_color = BUTTON_DISABLED_TEXT_COLOR + self._label.set_text_color(BUTTON_DISABLED_TEXT_COLOR) def _render(self, _): roundness = self._border_radius / (min(self._rect.width, self._rect.height) / 2) rl.draw_rectangle_rounded(self._rect, roundness, 10, self._background_color) + self._label.render(self._rect) - text_pos = rl.Vector2(0, self._rect.y + (self._rect.height - self._text_size.y) // 2) - if self._icon: - icon_y = self._rect.y + (self._rect.height - self._icon.height) / 2 - if self._text: - if self._text_alignment == TextAlignment.LEFT: - icon_x = self._rect.x + self._text_padding - text_pos.x = icon_x + self._icon.width + ICON_PADDING - elif self._text_alignment == TextAlignment.CENTER: - total_width = self._icon.width + ICON_PADDING + self._text_size.x - icon_x = self._rect.x + (self._rect.width - total_width) / 2 - text_pos.x = icon_x + self._icon.width + ICON_PADDING - else: - text_pos.x = self._rect.x + self._rect.width - self._text_size.x - self._text_padding - icon_x = text_pos.x - ICON_PADDING - self._icon.width - else: - icon_x = self._rect.x + (self._rect.width - self._icon.width) / 2 - rl.draw_texture_v(self._icon, rl.Vector2(icon_x, icon_y), rl.WHITE if self.enabled else rl.Color(255, 255, 255, 100)) - else: - if self._text_alignment == TextAlignment.LEFT: - text_pos.x = self._rect.x + self._text_padding - elif self._text_alignment == TextAlignment.CENTER: - text_pos.x = self._rect.x + (self._rect.width - self._text_size.x) // 2 - elif self._text_alignment == TextAlignment.RIGHT: - text_pos.x = self._rect.x + self._rect.width - self._text_size.x - self._text_padding - rl.draw_text_ex(self._label_font, self._text, text_pos, self._font_size, 0, self._text_color) class ButtonRadio(Button): def __init__(self, @@ -254,11 +219,16 @@ class ButtonRadio(Button): icon, click_callback: Callable[[], None] = None, font_size: int = DEFAULT_BUTTON_FONT_SIZE, + text_alignment: TextAlignment = TextAlignment.LEFT, border_radius: int = 10, text_padding: int = 20, ): - super().__init__(text, click_callback=click_callback, font_size=font_size, border_radius=border_radius, text_padding=text_padding, icon=icon) + super().__init__(text, click_callback=click_callback, font_size=font_size, + border_radius=border_radius, text_padding=text_padding, + text_alignment=text_alignment) + self._text_padding = text_padding + self._icon = icon self.selected = False def _handle_mouse_release(self, mouse_pos: MousePos): @@ -275,10 +245,7 @@ class ButtonRadio(Button): def _render(self, _): roundness = self._border_radius / (min(self._rect.width, self._rect.height) / 2) rl.draw_rectangle_rounded(self._rect, roundness, 10, self._background_color) - - text_pos = rl.Vector2(0, self._rect.y + (self._rect.height - self._text_size.y) // 2) - text_pos.x = self._rect.x + self._text_padding - rl.draw_text_ex(self._label_font, self._text, text_pos, self._font_size, 0, self._text_color) + self._label.render(self._rect) if self._icon and self.selected: icon_y = self._rect.y + (self._rect.height - self._icon.height) / 2 diff --git a/system/ui/widgets/label.py b/system/ui/widgets/label.py index e840e8586..f73b72cc5 100644 --- a/system/ui/widgets/label.py +++ b/system/ui/widgets/label.py @@ -1,11 +1,21 @@ +from enum import IntEnum + import pyray as rl + from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_SIZE, DEFAULT_TEXT_COLOR from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.lib.utils import GuiStyleContext +from openpilot.system.ui.lib.emoji import find_emoji, emoji_tex +from openpilot.system.ui.widgets import Widget +ICON_PADDING = 15 + +class TextAlignment(IntEnum): + LEFT = 0 + CENTER = 1 + RIGHT = 2 # TODO: This should be a Widget class - def gui_label( rect: rl.Rectangle, text: str, @@ -78,3 +88,74 @@ def gui_text_box( if font_weight != FontWeight.NORMAL: rl.gui_set_font(gui_app.font(FontWeight.NORMAL)) + + +# Non-interactive text area. Can render emojis and an optional specified icon. +class Label(Widget): + def __init__(self, + text: str, + font_size: int = DEFAULT_TEXT_SIZE, + font_weight: FontWeight = FontWeight.NORMAL, + text_alignment: TextAlignment = TextAlignment.CENTER, + text_padding: int = 20, + text_color: rl.Color = DEFAULT_TEXT_COLOR, + icon = None, + ): + + super().__init__() + self._text = text + self._font_weight = font_weight + self._font = gui_app.font(self._font_weight) + self._font_size = font_size + self._text_alignment = text_alignment + self._text_padding = text_padding + self._text_size = measure_text_cached(self._font, self._text, self._font_size) + self._text_color = text_color + self._icon = icon + self.emojis = find_emoji(self._text) + + def set_text(self, text): + self._text = text + self._text_size = measure_text_cached(self._font, self._text, self._font_size) + + def set_text_color(self, color): + self._text_color = color + + def _render(self, _): + text_pos = rl.Vector2(0, self._rect.y + (self._rect.height - self._text_size.y) // 2) + if self._icon: + icon_y = self._rect.y + (self._rect.height - self._icon.height) / 2 + if self._text: + if self._text_alignment == TextAlignment.LEFT: + icon_x = self._rect.x + self._text_padding + text_pos.x = icon_x + self._icon.width + ICON_PADDING + elif self._text_alignment == TextAlignment.CENTER: + total_width = self._icon.width + ICON_PADDING + self._text_size.x + icon_x = self._rect.x + (self._rect.width - total_width) / 2 + text_pos.x = icon_x + self._icon.width + ICON_PADDING + else: + text_pos.x = self._rect.x + self._rect.width - self._text_size.x - self._text_padding + icon_x = text_pos.x - ICON_PADDING - self._icon.width + else: + icon_x = self._rect.x + (self._rect.width - self._icon.width) / 2 + rl.draw_texture_v(self._icon, rl.Vector2(icon_x, icon_y), rl.WHITE) + else: + if self._text_alignment == TextAlignment.LEFT: + text_pos.x = self._rect.x + self._text_padding + elif self._text_alignment == TextAlignment.CENTER: + text_pos.x = self._rect.x + (self._rect.width - self._text_size.x) // 2 + elif self._text_alignment == TextAlignment.RIGHT: + text_pos.x = self._rect.x + self._rect.width - self._text_size.x - self._text_padding + + prev_index = 0 + for start, end, emoji in self.emojis: + text_before = self._text[prev_index:start] + width_before = measure_text_cached(self._font, text_before, self._font_size) + rl.draw_text_ex(self._font, text_before, text_pos, self._font_size, 0, self._text_color) + text_pos.x += width_before.x + + tex = emoji_tex(emoji) + rl.draw_texture_ex(tex, text_pos, 0.0, self._font_size / tex.height, self._text_color) + text_pos.x += self._font_size + prev_index = end + rl.draw_text_ex(self._font, self._text[prev_index:], text_pos, self._font_size, 0, self._text_color) diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index d23052d0f..2a7f83baa 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -50,6 +50,7 @@ brew "zeromq" cask "gcc-arm-embedded" brew "portaudio" brew "gcc@13" +brew "font-noto-color-emoji" EOS echo "[ ] finished brew install t=$SECONDS" From bb8a2ff65bb1a3e48258b3fb7bda76c9c1ece897 Mon Sep 17 00:00:00 2001 From: Jimmy <9859727+Quantizr@users.noreply.github.com> Date: Wed, 6 Aug 2025 16:50:26 -0700 Subject: [PATCH 083/107] Remove rerun (#35939) remove rerun --- pyproject.toml | 1 - tools/replay/README.md | 8 -- tools/replay/lib/rp_helpers.py | 109 ------------------- tools/replay/rp_visualization.py | 60 ----------- tools/rerun/README.md | 37 ------- tools/rerun/camera_reader.py | 93 ---------------- tools/rerun/run.py | 180 ------------------------------- 7 files changed, 488 deletions(-) delete mode 100644 tools/replay/lib/rp_helpers.py delete mode 100755 tools/replay/rp_visualization.py delete mode 100644 tools/rerun/README.md delete mode 100644 tools/rerun/camera_reader.py delete mode 100755 tools/rerun/run.py diff --git a/pyproject.toml b/pyproject.toml index e50b73e0d..710316345 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -120,7 +120,6 @@ dev = [ 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')", - #"rerun-sdk >= 0.18", # this is pretty big, so only enable once we use it ] [project.urls] diff --git a/tools/replay/README.md b/tools/replay/README.md index 7822525ec..72216e2cc 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -91,14 +91,6 @@ tools/replay/replay cd selfdrive/ui && ./ui ``` -## Try Radar Point Visualization with Rerun -To visualize radar points, run rp_visualization.py while tools/replay/replay is active. - -```bash -tools/replay/replay -python3 replay/rp_visualization.py -``` - ## Work with plotjuggler If you want to use replay with plotjuggler, you can stream messages by running: diff --git a/tools/replay/lib/rp_helpers.py b/tools/replay/lib/rp_helpers.py deleted file mode 100644 index aa20ab8e3..000000000 --- a/tools/replay/lib/rp_helpers.py +++ /dev/null @@ -1,109 +0,0 @@ -import numpy as np -from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA - -# Color palette used for rerun AnnotationContext -rerunColorPalette = [(96, "red", (255, 0, 0)), - (100, "pink", (255, 36, 0)), - (124, "yellow", (255, 255, 0)), - (230, "vibrantpink", (255, 36, 170)), - (240, "orange", (255, 146, 0)), - (255, "white", (255, 255, 255)), - (110, "carColor", (255,0,127)), - (0, "background", (0, 0, 0))] - - -class UIParams: - lidar_x, lidar_y, lidar_zoom = 384, 960, 6 - lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1 - car_hwidth = 1.7272 / 2 * lidar_zoom - car_front = 2.6924 * lidar_zoom - car_back = 1.8796 * lidar_zoom - car_color = rerunColorPalette[6][0] -UP = UIParams - - -def to_topdown_pt(y, x): - px, py = x * UP.lidar_zoom + UP.lidar_car_x, -y * UP.lidar_zoom + UP.lidar_car_y - if px > 0 and py > 0 and px < UP.lidar_x and py < UP.lidar_y: - return int(px), int(py) - return -1, -1 - - -def draw_path(path, lid_overlay, lid_color=None): - x, y = np.asarray(path.x), np.asarray(path.y) - # draw lidar path point on lidar - if lid_color is not None and lid_overlay is not None: - for i in range(len(x)): - px, py = to_topdown_pt(x[i], y[i]) - if px != -1: - lid_overlay[px, py] = lid_color - - -def plot_model(m, lid_overlay): - if lid_overlay is None: - return - for lead in m.leadsV3: - if lead.prob < 0.5: - continue - x, y = lead.x[0], lead.y[0] - x_std = lead.xStd[0] - x -= RADAR_TO_CAMERA - _, py_top = to_topdown_pt(x + x_std, y) - px, py_bottom = to_topdown_pt(x - x_std, y) - lid_overlay[int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = rerunColorPalette[2][0] - - for path in m.laneLines: - draw_path(path, lid_overlay, rerunColorPalette[2][0]) - for edge in m.roadEdges: - draw_path(edge, lid_overlay, rerunColorPalette[0][0]) - draw_path(m.position, lid_overlay, rerunColorPalette[0][0]) - - -def plot_lead(rs, lid_overlay): - for lead in [rs.leadOne, rs.leadTwo]: - if not lead.status: - continue - x = lead.dRel - px_left, py = to_topdown_pt(x, -10) - px_right, _ = to_topdown_pt(x, 10) - lid_overlay[px_left:px_right, py] = rerunColorPalette[0][0] - - -def update_radar_points(lt, lid_overlay): - ar_pts = [] - if lt is not None: - ar_pts = {} - for track in lt: - ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel, track.oncoming, track.stationary] - for ids, pt in ar_pts.items(): - # negative here since radar is left positive - px, py = to_topdown_pt(pt[0], -pt[1]) - if px != -1: - if pt[-1]: - color = rerunColorPalette[4][0] - elif pt[-2]: - color = rerunColorPalette[3][0] - else: - color = rerunColorPalette[5][0] - if int(ids) == 1: - lid_overlay[px - 2:px + 2, py - 10:py + 10] = rerunColorPalette[1][0] - else: - lid_overlay[px - 2:px + 2, py - 2:py + 2] = color - - -def get_blank_lid_overlay(UP): - lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8') - # Draw the car. - lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int( - round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y - - UP.car_front))] = UP.car_color - lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int( - round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y + - UP.car_back))] = UP.car_color - lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int( - round(UP.lidar_car_y - UP.car_front)):int(round( - UP.lidar_car_y + UP.car_back))] = UP.car_color - lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int( - round(UP.lidar_car_y - UP.car_front)):int(round( - UP.lidar_car_y + UP.car_back))] = UP.car_color - return lid_overlay diff --git a/tools/replay/rp_visualization.py b/tools/replay/rp_visualization.py deleted file mode 100755 index 25169b72a..000000000 --- a/tools/replay/rp_visualization.py +++ /dev/null @@ -1,60 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import os -import sys -import numpy as np -import rerun as rr -import cereal.messaging as messaging -from openpilot.common.basedir import BASEDIR -from openpilot.tools.replay.lib.rp_helpers import (UP, rerunColorPalette, - get_blank_lid_overlay, - update_radar_points, plot_lead, - plot_model) -from msgq.visionipc import VisionIpcClient, VisionStreamType - -os.environ['BASEDIR'] = BASEDIR - -UP.lidar_zoom = 6 - -def visualize(addr): - sm = messaging.SubMaster(['radarState', 'liveTracks', 'modelV2'], addr=addr) - vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True) - while True: - if not vipc_client.is_connected(): - vipc_client.connect(True) - new_data = vipc_client.recv() - if new_data is None or not new_data.data.any(): - continue - - sm.update(0) - lid_overlay = get_blank_lid_overlay(UP) - if sm.recv_frame['modelV2']: - plot_model(sm['modelV2'], lid_overlay) - if sm.recv_frame['radarState']: - plot_lead(sm['radarState'], lid_overlay) - liveTracksTime = sm.logMonoTime['liveTracks'] - if sm.updated['liveTracks']: - update_radar_points(sm['liveTracks'], lid_overlay) - rr.set_time_nanos("TIMELINE", liveTracksTime) - rr.log("tracks", rr.SegmentationImage(np.flip(np.rot90(lid_overlay, k=-1), axis=1))) - - -def get_arg_parser(): - parser = argparse.ArgumentParser( - description="Show replay data in a UI.", - formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument("ip_address", nargs="?", default="127.0.0.1", - help="The ip address on which to receive zmq messages.") - parser.add_argument("--frame-address", default=None, - help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.") - return parser - - -if __name__ == "__main__": - args = get_arg_parser().parse_args(sys.argv[1:]) - if args.ip_address != "127.0.0.1": - os.environ["ZMQ"] = "1" - messaging.reset_context() - rr.init("RadarPoints", spawn= True) - rr.log("tracks", rr.AnnotationContext(rerunColorPalette), static=True) - visualize(args.ip_address) diff --git a/tools/rerun/README.md b/tools/rerun/README.md deleted file mode 100644 index 11a8d33ee..000000000 --- a/tools/rerun/README.md +++ /dev/null @@ -1,37 +0,0 @@ -# Rerun -Rerun is a tool to quickly visualize time series data. It supports all openpilot logs , both the `logMessages` and video logs. - -[Instructions](https://rerun.io/docs/reference/viewer/overview) for navigation within the Rerun Viewer. - -## Usage -``` -usage: run.py [-h] [--demo] [--qcam] [--fcam] [--ecam] [--dcam] [route_or_segment_name] - -A helper to run rerun on openpilot routes - -positional arguments: - route_or_segment_name - The route or segment name to plot (default: None) - -options: - -h, --help show this help message and exit - --demo Use the demo route instead of providing one (default: False) - --qcam Show low-res road camera (default: False) - --fcam Show driving camera (default: False) - --ecam Show wide camera (default: False) - --dcam Show driver monitoring camera (default: False) -``` - -Examples using route name to observe accelerometer and qcamera: - -`./run.py --qcam "a2a0ccea32023010/2023-07-27--13-01-19"` - -Examples using segment range (more on [SegmentRange](https://github.com/commaai/openpilot/tree/master/tools/lib)): - -`./run.py --qcam "a2a0ccea32023010/2023-07-27--13-01-19/2:4"` - -## Cautions: -- Showing hevc videos (`--fcam`, `--ecam`, and `--dcam`) are expensive, and it's recommended to use `--qcam` for optimized performance. If possible, limiting your route to a few segments using `SegmentRange` will speed up logging and reduce memory usage - -## Demo -`./run.py --qcam --demo` diff --git a/tools/rerun/camera_reader.py b/tools/rerun/camera_reader.py deleted file mode 100644 index 8366a3c1c..000000000 --- a/tools/rerun/camera_reader.py +++ /dev/null @@ -1,93 +0,0 @@ -import tqdm -import subprocess -import multiprocessing -from enum import StrEnum -from functools import partial -from collections import namedtuple - -from openpilot.tools.lib.framereader import ffprobe - -CameraConfig = namedtuple("CameraConfig", ["qcam", "fcam", "ecam", "dcam"]) - -class CameraType(StrEnum): - qcam = "qcamera" - fcam = "fcamera" - ecam = "ecamera" - dcam = "dcamera" - - -def probe_packet_info(camera_path): - args = ["ffprobe", "-v", "quiet", "-show_packets", "-probesize", "10M", camera_path] - dat = subprocess.check_output(args) - dat = dat.decode().split() - return dat - - -class _FrameReader: - def __init__(self, camera_path, segment, h, w, start_time): - self.camera_path = camera_path - self.segment = segment - self.h = h - self.w = w - self.start_time = start_time - - self.ts = self._get_ts() - - def _read_stream_nv12(self): - frame_sz = self.w * self.h * 3 // 2 - proc = subprocess.Popen( - ["ffmpeg", "-v", "quiet", "-i", self.camera_path, "-f", "rawvideo", "-pix_fmt", "nv12", "-"], - stdin=subprocess.PIPE, - stdout=subprocess.PIPE, - stderr=subprocess.DEVNULL - ) - try: - while True: - dat = proc.stdout.read(frame_sz) - if len(dat) == 0: - break - yield dat - finally: - proc.kill() - - def _get_ts(self): - dat = probe_packet_info(self.camera_path) - try: - ret = [float(d.split('=')[1]) for d in dat if d.startswith("pts_time=")] - except ValueError: - # pts_times aren't available. Infer timestamps from duration_times - ret = [d for d in dat if d.startswith("duration_time")] - ret = [float(d.split('=')[1])*(i+1)+(self.segment*60)+self.start_time for i, d in enumerate(ret)] - return ret - - def __iter__(self): - for i, frame in enumerate(self._read_stream_nv12()): - yield self.ts[i], frame - - -class CameraReader: - def __init__(self, camera_paths, start_time, seg_idxs): - self.seg_idxs = seg_idxs - self.camera_paths = camera_paths - self.start_time = start_time - - probe = ffprobe(camera_paths[0])["streams"][0] - self.h = probe["height"] - self.w = probe["width"] - - self.__frs = {} - - def _get_fr(self, i): - if i not in self.__frs: - self.__frs[i] = _FrameReader(self.camera_paths[i], segment=i, h=self.h, w=self.w, start_time=self.start_time) - return self.__frs[i] - - def _run_on_segment(self, func, i): - return func(self._get_fr(i)) - - def run_across_segments(self, num_processes, func, desc=None): - with multiprocessing.Pool(num_processes) as pool: - num_segs = len(self.seg_idxs) - for _ in tqdm.tqdm(pool.imap_unordered(partial(self._run_on_segment, func), self.seg_idxs), total=num_segs, desc=desc): - continue - diff --git a/tools/rerun/run.py b/tools/rerun/run.py deleted file mode 100755 index 6ce8a3793..000000000 --- a/tools/rerun/run.py +++ /dev/null @@ -1,180 +0,0 @@ -#!/usr/bin/env python3 - -import sys -import argparse -import multiprocessing -import rerun as rr -import rerun.blueprint as rrb -from functools import partial -from collections import defaultdict - -from cereal.services import SERVICE_LIST -from openpilot.tools.rerun.camera_reader import probe_packet_info, CameraReader, CameraConfig, CameraType -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route, SegmentRange - - -NUM_CPUS = multiprocessing.cpu_count() -DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19" -RR_TIMELINE_NAME = "Timeline" -RR_WIN = "openpilot logs" - - -""" -Relevant upstream Rerun issues: -- loading videos directly: https://github.com/rerun-io/rerun/issues/6532 -""" - -class Rerunner: - def __init__(self, route, segment_range, camera_config): - self.lr = LogReader(route_or_segment_name) - - # hevc files don't have start_time. We get it from qcamera.ts - start_time = 0 - dat = probe_packet_info(route.qcamera_paths()[0]) - for d in dat: - if d.startswith("pts_time="): - start_time = float(d.split('=')[1]) - break - - qcam, fcam, ecam, dcam = camera_config - self.camera_readers = {} - if qcam: - self.camera_readers[CameraType.qcam] = CameraReader(route.qcamera_paths(), start_time, segment_range.seg_idxs) - if fcam: - self.camera_readers[CameraType.fcam] = CameraReader(route.camera_paths(), start_time, segment_range.seg_idxs) - if ecam: - self.camera_readers[CameraType.ecam] = CameraReader(route.ecamera_paths(), start_time, segment_range.seg_idxs) - if dcam: - self.camera_readers[CameraType.dcam] = CameraReader(route.dcamera_paths(), start_time, segment_range.seg_idxs) - - def _create_blueprint(self): - blueprint = None - service_views = [] - - for topic in sorted(SERVICE_LIST.keys()): - View = rrb.TimeSeriesView if topic != "thumbnail" else rrb.Spatial2DView - service_views.append(View(name=topic, origin=f"/{topic}/", visible=False)) - rr.log(topic, rr.SeriesLine(name=topic), timeless=True) - - center_view = [rrb.Vertical(*service_views, name="streams")] - if len(self.camera_readers): - center_view.append(rrb.Vertical(*[rrb.Spatial2DView(name=cam_type, origin=cam_type) for cam_type in self.camera_readers.keys()], name="cameras")) - - blueprint = rrb.Blueprint( - rrb.Horizontal( - *center_view - ), - rrb.SelectionPanel(expanded=False), - rrb.TimePanel(expanded=False), - ) - return blueprint - - @staticmethod - def _parse_msg(msg, parent_key=''): - stack = [(msg, parent_key)] - while stack: - current_msg, current_parent_key = stack.pop() - if isinstance(current_msg, list): - for index, item in enumerate(current_msg): - new_key = f"{current_parent_key}/{index}" - if isinstance(item, (int, float)): - yield new_key, item - elif isinstance(item, dict): - stack.append((item, new_key)) - elif isinstance(current_msg, dict): - for key, value in current_msg.items(): - new_key = f"{current_parent_key}/{key}" - if isinstance(value, (int, float)): - yield new_key, value - elif isinstance(value, dict): - stack.append((value, new_key)) - elif isinstance(value, list): - for index, item in enumerate(value): - if isinstance(item, (int, float)): - yield f"{new_key}/{index}", item - else: - pass # Not a plottable value - - @staticmethod - @rr.shutdown_at_exit - def _process_log_msgs(blueprint, lr): - rr.init(RR_WIN) - rr.connect() - rr.send_blueprint(blueprint) - - log_msgs = defaultdict(lambda: defaultdict(list)) - for msg in lr: - msg_type = msg.which() - - if msg_type == "thumbnail": - continue - - for entity_path, dat in Rerunner._parse_msg(msg.to_dict()[msg_type], msg_type): - log_msgs[entity_path]["times"].append(msg.logMonoTime) - log_msgs[entity_path]["data"].append(dat) - - for entity_path, log_msg in log_msgs.items(): - rr.send_columns( - entity_path, - times=[rr.TimeNanosColumn(RR_TIMELINE_NAME, log_msg["times"])], - components=[rr.components.ScalarBatch(log_msg["data"])] - ) - - return [] - - @staticmethod - @rr.shutdown_at_exit - def _process_cam_readers(blueprint, cam_type, h, w, fr): - rr.init(RR_WIN) - rr.connect() - rr.send_blueprint(blueprint) - - for ts, frame in fr: - rr.set_time_nanos(RR_TIMELINE_NAME, int(ts * 1e9)) - rr.log(cam_type, rr.Image(bytes=frame, width=w, height=h, pixel_format=rr.PixelFormat.NV12)) - - def load_data(self): - rr.init(RR_WIN, spawn=True) - - startup_blueprint = self._create_blueprint() - self.lr.run_across_segments(NUM_CPUS, partial(self._process_log_msgs, startup_blueprint), desc="Log messages") - for cam_type, cr in self.camera_readers.items(): - cr.run_across_segments(NUM_CPUS, partial(self._process_cam_readers, startup_blueprint, cam_type, cr.h, cr.w), desc=cam_type) - - rr.send_blueprint(self._create_blueprint()) - - -if __name__ == '__main__': - parser = argparse.ArgumentParser(description="A helper to run rerun on openpilot routes", - formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one") - parser.add_argument("--qcam", action="store_true", help="Show low-res road camera") - parser.add_argument("--fcam", action="store_true", help="Show driving camera") - parser.add_argument("--ecam", action="store_true", help="Show wide camera") - parser.add_argument("--dcam", action="store_true", help="Show driver monitoring camera") - parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot") - args = parser.parse_args() - - if not args.demo and not args.route_or_segment_name: - parser.print_help() - sys.exit() - - camera_config = CameraConfig(args.qcam, args.fcam, args.ecam, args.dcam) - route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip() - - sr = SegmentRange(route_or_segment_name) - r = Route(sr.route_name) - - hevc_requested = any(camera_config[1:]) - if len(sr.seg_idxs) > 1 and hevc_requested: - print("You're requesting more than 1 segment with hevc videos, " + \ - "please be aware that might take a lot of memory " + \ - "since rerun isn't yet well supported for high resolution video logging") - response = input("Do you wish to continue? (Y/n): ") - if response.strip().lower() != "y": - sys.exit() - - rerunner = Rerunner(r, sr, camera_config) - rerunner.load_data() - From a84089c6e54b93fc0bcd7583050b0177a1aed74c Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 6 Aug 2025 16:53:16 -0700 Subject: [PATCH 084/107] EncoderInfo: encoder setting factorys (#35940) --- system/loggerd/encoder/encoder.cc | 2 +- system/loggerd/encoder/ffmpeg_encoder.cc | 2 +- system/loggerd/encoder/v4l_encoder.cc | 14 +++---- system/loggerd/loggerd.h | 50 +++++++++++++++++------- 4 files changed, 44 insertions(+), 24 deletions(-) diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc index b8f2f274d..5575403ac 100644 --- a/system/loggerd/encoder/encoder.cc +++ b/system/loggerd/encoder/encoder.cc @@ -21,7 +21,7 @@ void VideoEncoder::publisher_publish(int segment_num, uint32_t idx, VisionIpcBuf edata.setFrameId(extra.frame_id); edata.setTimestampSof(extra.timestamp_sof); edata.setTimestampEof(extra.timestamp_eof); - edata.setType(encoder_info.encode_type); + edata.setType(encoder_info.settings.encode_type); edata.setEncodeId(cnt++); edata.setSegmentNum(segment_num); edata.setSegmentId(idx); diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc index 091c2fb2d..c61ba0e79 100644 --- a/system/loggerd/encoder/ffmpeg_encoder.cc +++ b/system/loggerd/encoder/ffmpeg_encoder.cc @@ -46,7 +46,7 @@ FfmpegEncoder::~FfmpegEncoder() { } void FfmpegEncoder::encoder_open() { - auto codec_id = encoder_info.encode_type == cereal::EncodeIndex::Type::QCAMERA_H264 + auto codec_id = encoder_info.settings.encode_type == cereal::EncodeIndex::Type::QCAMERA_H264 ? AV_CODEC_ID_H264 : AV_CODEC_ID_FFVHUFF; const AVCodec *codec = avcodec_find_encoder(codec_id); diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc index e4b4c8a09..3af767367 100644 --- a/system/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -155,6 +155,8 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei assert(strcmp((const char *)cap.driver, "msm_vidc_driver") == 0); assert(strcmp((const char *)cap.card, "msm_vidc_venc") == 0); + bool is_h265 = encoder_info.settings.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C; + struct v4l2_format fmt_out = { .type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, .fmt = { @@ -162,7 +164,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei // downscales are free with v4l .width = (unsigned int)(out_width), .height = (unsigned int)(out_height), - .pixelformat = (encoder_info.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C) ? V4L2_PIX_FMT_HEVC : V4L2_PIX_FMT_H264, + .pixelformat = is_h265 ? V4L2_PIX_FMT_HEVC : V4L2_PIX_FMT_H264, .field = V4L2_FIELD_ANY, .colorspace = V4L2_COLORSPACE_DEFAULT, } @@ -205,8 +207,10 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei // shared ctrls { struct v4l2_control ctrls[] = { + { .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = encoder_info.settings.bitrate}, + { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = encoder_info.settings.gop_size - encoder_info.settings.b_frames - 1}, + { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = encoder_info.settings.b_frames}, { .id = V4L2_CID_MPEG_VIDEO_HEADER_MODE, .value = V4L2_MPEG_VIDEO_HEADER_MODE_SEPARATE}, - { .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = encoder_info.bitrate}, { .id = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL, .value = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_VBR_CFR}, { .id = V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY, .value = V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_DISABLE}, { .id = V4L2_CID_MPEG_VIDC_VIDEO_IDR_PERIOD, .value = 1}, @@ -216,13 +220,11 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei } } - if (encoder_info.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C) { + if (is_h265) { struct v4l2_control ctrls[] = { { .id = V4L2_CID_MPEG_VIDC_VIDEO_HEVC_PROFILE, .value = V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN}, { .id = V4L2_CID_MPEG_VIDC_VIDEO_HEVC_TIER_LEVEL, .value = V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5}, { .id = V4L2_CID_MPEG_VIDC_VIDEO_VUI_TIMING_INFO, .value = V4L2_MPEG_VIDC_VIDEO_VUI_TIMING_INFO_ENABLED}, - { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = 29}, - { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = 0}, }; for (auto ctrl : ctrls) { util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed"); @@ -231,8 +233,6 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei struct v4l2_control ctrls[] = { { .id = V4L2_CID_MPEG_VIDEO_H264_PROFILE, .value = V4L2_MPEG_VIDEO_H264_PROFILE_HIGH}, { .id = V4L2_CID_MPEG_VIDEO_H264_LEVEL, .value = V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN}, - { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = 14}, - { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = 0}, { .id = V4L2_CID_MPEG_VIDEO_H264_ENTROPY_MODE, .value = V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CABAC}, { .id = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL, .value = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_0}, { .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_MODE, .value = 0}, diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h index 5dfb178fd..55898b0ac 100644 --- a/system/loggerd/loggerd.h +++ b/system/loggerd/loggerd.h @@ -13,10 +13,7 @@ #include "system/loggerd/logger.h" constexpr int MAIN_FPS = 20; -const int MAIN_BITRATE = 1e7; -const int LIVESTREAM_BITRATE = 1e6; -const int QCAM_BITRATE = 256000; - +const auto MAIN_ENCODE_TYPE = Hardware::PC() ? cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS : cereal::EncodeIndex::Type::FULL_H_E_V_C; #define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead #define INIT_ENCODE_FUNCTIONS(encode_type) \ @@ -29,6 +26,31 @@ const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH")) constexpr char PRESERVE_ATTR_NAME[] = "user.preserve"; constexpr char PRESERVE_ATTR_VALUE = '1'; + +struct EncoderSettings { + cereal::EncodeIndex::Type encode_type; + int bitrate; + int gop_size; + int b_frames = 0; // we don't use b frames + + static EncoderSettings MainEncoderSettings() { + //static EncoderSettings MainEncoderSettings(int in_width) { + //if (in_width <= 1344) { + // return EncoderSettings{.bitrate = 5'000'000, .gop_size = 20}; + //} else { + return EncoderSettings{.encode_type = MAIN_ENCODE_TYPE, .bitrate = 10'000'000, .gop_size = 30}; + //} + } + + static EncoderSettings QcamEncoderSettings() { + return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = 256'000, .gop_size = 15}; + } + + static EncoderSettings StreamEncoderSettings() { + return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = 1'000'000, .gop_size = 15}; + } +}; + class EncoderInfo { public: const char *publish_name; @@ -39,9 +61,8 @@ public: int frame_width = -1; int frame_height = -1; int fps = MAIN_FPS; - int bitrate = MAIN_BITRATE; - cereal::EncodeIndex::Type encode_type = Hardware::PC() ? cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS - : cereal::EncodeIndex::Type::FULL_H_E_V_C; + EncoderSettings settings; + ::cereal::EncodeData::Reader (cereal::Event::Reader::*get_encode_data_func)() const; void (cereal::Event::Builder::*set_encode_idx_func)(::cereal::EncodeIndex::Reader); cereal::EncodeData::Builder (cereal::Event::Builder::*init_encode_data_func)(); @@ -59,12 +80,14 @@ const EncoderInfo main_road_encoder_info = { .publish_name = "roadEncodeData", .thumbnail_name = "thumbnail", .filename = "fcamera.hevc", + .settings = EncoderSettings::MainEncoderSettings(), INIT_ENCODE_FUNCTIONS(RoadEncode), }; const EncoderInfo main_wide_road_encoder_info = { .publish_name = "wideRoadEncodeData", .filename = "ecamera.hevc", + .settings = EncoderSettings::MainEncoderSettings(), INIT_ENCODE_FUNCTIONS(WideRoadEncode), }; @@ -72,39 +95,36 @@ const EncoderInfo main_driver_encoder_info = { .publish_name = "driverEncodeData", .filename = "dcamera.hevc", .record = Params().getBool("RecordFront"), + .settings = EncoderSettings::MainEncoderSettings(), INIT_ENCODE_FUNCTIONS(DriverEncode), }; const EncoderInfo stream_road_encoder_info = { .publish_name = "livestreamRoadEncodeData", //.thumbnail_name = "thumbnail", - .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .record = false, - .bitrate = LIVESTREAM_BITRATE, + .settings = EncoderSettings::StreamEncoderSettings(), INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode), }; const EncoderInfo stream_wide_road_encoder_info = { .publish_name = "livestreamWideRoadEncodeData", - .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .record = false, - .bitrate = LIVESTREAM_BITRATE, + .settings = EncoderSettings::StreamEncoderSettings(), INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode), }; const EncoderInfo stream_driver_encoder_info = { .publish_name = "livestreamDriverEncodeData", - .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .record = false, - .bitrate = LIVESTREAM_BITRATE, + .settings = EncoderSettings::StreamEncoderSettings(), INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode), }; const EncoderInfo qcam_encoder_info = { .publish_name = "qRoadEncodeData", .filename = "qcamera.ts", - .bitrate = QCAM_BITRATE, - .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, + .settings = EncoderSettings::QcamEncoderSettings(), .frame_width = 526, .frame_height = 330, .include_audio = Params().getBool("RecordAudio"), From a51477d40dece8158c3fcbf3fb5cf4b2f9affdf3 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 6 Aug 2025 18:07:06 -0700 Subject: [PATCH 085/107] ui: use Label in keyboard (#35941) better --- system/ui/widgets/keyboard.py | 14 +++++++------- system/ui/widgets/label.py | 5 +++-- 2 files changed, 10 insertions(+), 9 deletions(-) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index 388d7e266..dee424a2d 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -8,7 +8,7 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.widgets import 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 gui_label +from openpilot.system.ui.widgets.label import Label, TextAlignment KEY_FONT_SIZE = 96 DOUBLE_CLICK_THRESHOLD = 0.5 # seconds @@ -62,8 +62,8 @@ class Keyboard(Widget): self._layout_name: Literal["lowercase", "uppercase", "numbers", "specials"] = "lowercase" self._caps_lock = False self._last_shift_press_time = 0 - self._title = "" - self._sub_title = "" + self._title = Label("", 90, FontWeight.BOLD, TextAlignment.LEFT) + self._sub_title = Label("", 55, FontWeight.NORMAL, TextAlignment.LEFT) self._max_text_size = max_text_size self._min_text_size = min_text_size @@ -115,8 +115,8 @@ class Keyboard(Widget): self._backspace_pressed = False def set_title(self, title: str, sub_title: str = ""): - self._title = title - self._sub_title = sub_title + self._title.set_text(title) + self._sub_title.set_text(sub_title) def _eye_button_callback(self): self._password_mode = not self._password_mode @@ -133,8 +133,8 @@ class Keyboard(Widget): def _render(self, rect: rl.Rectangle): rect = rl.Rectangle(rect.x + CONTENT_MARGIN, rect.y + CONTENT_MARGIN, rect.width - 2 * CONTENT_MARGIN, rect.height - 2 * CONTENT_MARGIN) - gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), self._title, 90, font_weight=FontWeight.BOLD) - gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), self._sub_title, 55, font_weight=FontWeight.NORMAL) + self._title.render(rl.Rectangle(rect.x, rect.y, rect.width, 95)) + self._sub_title.render(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60)) self._cancel_button.render(rl.Rectangle(rect.x + rect.width - 386, rect.y, 386, 125)) # Draw input box and password toggle diff --git a/system/ui/widgets/label.py b/system/ui/widgets/label.py index f73b72cc5..2b0b01769 100644 --- a/system/ui/widgets/label.py +++ b/system/ui/widgets/label.py @@ -112,10 +112,11 @@ class Label(Widget): self._text_size = measure_text_cached(self._font, self._text, self._font_size) self._text_color = text_color self._icon = icon - self.emojis = find_emoji(self._text) + self._emojis = find_emoji(self._text) def set_text(self, text): self._text = text + self._emojis = find_emoji(self._text) self._text_size = measure_text_cached(self._font, self._text, self._font_size) def set_text_color(self, color): @@ -148,7 +149,7 @@ class Label(Widget): text_pos.x = self._rect.x + self._rect.width - self._text_size.x - self._text_padding prev_index = 0 - for start, end, emoji in self.emojis: + for start, end, emoji in self._emojis: text_before = self._text[prev_index:start] width_before = measure_text_cached(self._font, text_before, self._font_size) rl.draw_text_ex(self._font, text_before, text_pos, self._font_size, 0, self._text_color) From 62bbf6db8d900aba6129e9255c88c6f885a2d774 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 6 Aug 2025 20:11:30 -0700 Subject: [PATCH 086/107] ui: use label in confirm dialog (#35943) forget --- system/ui/widgets/confirm_dialog.py | 16 ++++++---------- system/ui/widgets/network.py | 2 +- 2 files changed, 7 insertions(+), 11 deletions(-) diff --git a/system/ui/widgets/confirm_dialog.py b/system/ui/widgets/confirm_dialog.py index f0d638131..1021b5452 100644 --- a/system/ui/widgets/confirm_dialog.py +++ b/system/ui/widgets/confirm_dialog.py @@ -2,7 +2,7 @@ import pyray as rl from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.widgets import DialogResult from openpilot.system.ui.widgets.button import gui_button, ButtonStyle, Button -from openpilot.system.ui.widgets.label import gui_text_box +from openpilot.system.ui.widgets.label import gui_text_box, Label from openpilot.system.ui.widgets import Widget DIALOG_WIDTH = 1520 @@ -15,12 +15,15 @@ BACKGROUND_COLOR = rl.Color(27, 27, 27, 255) class ConfirmDialog(Widget): def __init__(self, text: str, confirm_text: str, cancel_text: str = "Cancel"): super().__init__() - self.text = text + self._label = Label(text, 70, FontWeight.BOLD) 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._dialog_result = DialogResult.NO_ACTION self._cancel_text = cancel_text + def set_text(self, text): + self._label.set_text(text) + def reset(self): self._dialog_result = DialogResult.NO_ACTION @@ -46,14 +49,7 @@ class ConfirmDialog(Widget): rl.draw_rectangle_rec(dialog_rect, BACKGROUND_COLOR) text_rect = rl.Rectangle(dialog_rect.x + MARGIN, dialog_rect.y, dialog_rect.width - 2 * MARGIN, dialog_rect.height - TEXT_AREA_HEIGHT_REDUCTION) - gui_text_box( - text_rect, - self.text, - font_size=70, - alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, - alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, - font_weight=FontWeight.BOLD, - ) + self._label.render(text_rect) if rl.is_key_pressed(rl.KeyboardKey.KEY_ENTER): self._dialog_result = DialogResult.CONFIRM diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 0eda418c1..b2cbcb7e5 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -99,7 +99,7 @@ class WifiManagerUI(Widget): self.keyboard.reset() gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(network, result)) case StateShowForgetConfirm(network): - self._confirm_dialog.text = f'Forget Wi-Fi Network "{network.ssid}"?' + self._confirm_dialog.set_text(f'Forget Wi-Fi Network "{network.ssid}"?') self._confirm_dialog.reset() gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(network, result)) case _: From 8b90c210f85b6c85adc290ebbdf8a0cf9e3918b4 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 6 Aug 2025 21:17:10 -0700 Subject: [PATCH 087/107] encoderd: more efficient compression for low res frames (#35924) * shein says inline * Update system/loggerd/loggerd.h Co-authored-by: Shane Smiskol * Revert "Update system/loggerd/loggerd.h" This reverts commit 3602523cefdeb2a46d77946f7f2cc7fc21bd5a4f. * Revert "shein says inline" This reverts commit d3c079e137c5d98068501df636975c5fbf8810ee. * EncoderSettings * getter * update test_encoder * def --------- Co-authored-by: Comma Device Co-authored-by: Shane Smiskol --- system/loggerd/encoder/encoder.cc | 2 +- system/loggerd/encoder/ffmpeg_encoder.cc | 2 +- system/loggerd/encoder/v4l_encoder.cc | 9 ++++---- system/loggerd/loggerd.h | 29 ++++++++++++------------ system/loggerd/tests/test_encoder.py | 24 +++++++++++--------- 5 files changed, 34 insertions(+), 32 deletions(-) diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc index 5575403ac..06922b0cd 100644 --- a/system/loggerd/encoder/encoder.cc +++ b/system/loggerd/encoder/encoder.cc @@ -21,7 +21,7 @@ void VideoEncoder::publisher_publish(int segment_num, uint32_t idx, VisionIpcBuf edata.setFrameId(extra.frame_id); edata.setTimestampSof(extra.timestamp_sof); edata.setTimestampEof(extra.timestamp_eof); - edata.setType(encoder_info.settings.encode_type); + edata.setType(encoder_info.get_settings(in_width).encode_type); edata.setEncodeId(cnt++); edata.setSegmentNum(segment_num); edata.setSegmentId(idx); diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc index c61ba0e79..4d6be4718 100644 --- a/system/loggerd/encoder/ffmpeg_encoder.cc +++ b/system/loggerd/encoder/ffmpeg_encoder.cc @@ -46,7 +46,7 @@ FfmpegEncoder::~FfmpegEncoder() { } void FfmpegEncoder::encoder_open() { - auto codec_id = encoder_info.settings.encode_type == cereal::EncodeIndex::Type::QCAMERA_H264 + auto codec_id = encoder_info.get_settings(in_width).encode_type == cereal::EncodeIndex::Type::QCAMERA_H264 ? AV_CODEC_ID_H264 : AV_CODEC_ID_FFVHUFF; const AVCodec *codec = avcodec_find_encoder(codec_id); diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc index 3af767367..6ee3af13b 100644 --- a/system/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -155,7 +155,8 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei assert(strcmp((const char *)cap.driver, "msm_vidc_driver") == 0); assert(strcmp((const char *)cap.card, "msm_vidc_venc") == 0); - bool is_h265 = encoder_info.settings.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C; + EncoderSettings encoder_settings = encoder_info.get_settings(in_width); + bool is_h265 = encoder_settings.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C; struct v4l2_format fmt_out = { .type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, @@ -207,9 +208,9 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei // shared ctrls { struct v4l2_control ctrls[] = { - { .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = encoder_info.settings.bitrate}, - { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = encoder_info.settings.gop_size - encoder_info.settings.b_frames - 1}, - { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = encoder_info.settings.b_frames}, + { .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = encoder_settings.bitrate}, + { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = encoder_settings.gop_size - encoder_settings.b_frames - 1}, + { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = encoder_settings.b_frames}, { .id = V4L2_CID_MPEG_VIDEO_HEADER_MODE, .value = V4L2_MPEG_VIDEO_HEADER_MODE_SEPARATE}, { .id = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL, .value = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_VBR_CFR}, { .id = V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY, .value = V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_DISABLE}, diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h index 55898b0ac..967caec86 100644 --- a/system/loggerd/loggerd.h +++ b/system/loggerd/loggerd.h @@ -33,13 +33,12 @@ struct EncoderSettings { int gop_size; int b_frames = 0; // we don't use b frames - static EncoderSettings MainEncoderSettings() { - //static EncoderSettings MainEncoderSettings(int in_width) { - //if (in_width <= 1344) { - // return EncoderSettings{.bitrate = 5'000'000, .gop_size = 20}; - //} else { - return EncoderSettings{.encode_type = MAIN_ENCODE_TYPE, .bitrate = 10'000'000, .gop_size = 30}; - //} + static EncoderSettings MainEncoderSettings(int in_width) { + if (in_width <= 1344) { + return EncoderSettings{.encode_type = MAIN_ENCODE_TYPE, .bitrate = 5'000'000, .gop_size = 20}; + } else { + return EncoderSettings{.encode_type = MAIN_ENCODE_TYPE, .bitrate = 10'000'000, .gop_size = 30}; + } } static EncoderSettings QcamEncoderSettings() { @@ -61,7 +60,7 @@ public: int frame_width = -1; int frame_height = -1; int fps = MAIN_FPS; - EncoderSettings settings; + std::function get_settings; ::cereal::EncodeData::Reader (cereal::Event::Reader::*get_encode_data_func)() const; void (cereal::Event::Builder::*set_encode_idx_func)(::cereal::EncodeIndex::Reader); @@ -80,14 +79,14 @@ const EncoderInfo main_road_encoder_info = { .publish_name = "roadEncodeData", .thumbnail_name = "thumbnail", .filename = "fcamera.hevc", - .settings = EncoderSettings::MainEncoderSettings(), + .get_settings = [](int in_width){return EncoderSettings::MainEncoderSettings(in_width);}, INIT_ENCODE_FUNCTIONS(RoadEncode), }; const EncoderInfo main_wide_road_encoder_info = { .publish_name = "wideRoadEncodeData", .filename = "ecamera.hevc", - .settings = EncoderSettings::MainEncoderSettings(), + .get_settings = [](int in_width){return EncoderSettings::MainEncoderSettings(in_width);}, INIT_ENCODE_FUNCTIONS(WideRoadEncode), }; @@ -95,7 +94,7 @@ const EncoderInfo main_driver_encoder_info = { .publish_name = "driverEncodeData", .filename = "dcamera.hevc", .record = Params().getBool("RecordFront"), - .settings = EncoderSettings::MainEncoderSettings(), + .get_settings = [](int in_width){return EncoderSettings::MainEncoderSettings(in_width);}, INIT_ENCODE_FUNCTIONS(DriverEncode), }; @@ -103,28 +102,28 @@ const EncoderInfo stream_road_encoder_info = { .publish_name = "livestreamRoadEncodeData", //.thumbnail_name = "thumbnail", .record = false, - .settings = EncoderSettings::StreamEncoderSettings(), + .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();}, INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode), }; const EncoderInfo stream_wide_road_encoder_info = { .publish_name = "livestreamWideRoadEncodeData", .record = false, - .settings = EncoderSettings::StreamEncoderSettings(), + .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();}, INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode), }; const EncoderInfo stream_driver_encoder_info = { .publish_name = "livestreamDriverEncodeData", .record = false, - .settings = EncoderSettings::StreamEncoderSettings(), + .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();}, INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode), }; const EncoderInfo qcam_encoder_info = { .publish_name = "qRoadEncodeData", .filename = "qcamera.ts", - .settings = EncoderSettings::QcamEncoderSettings(), + .get_settings = [](int){return EncoderSettings::QcamEncoderSettings();}, .frame_width = 526, .frame_height = 330, .include_audio = Params().getBool("RecordAudio"), diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py index b24bfbe16..e4dabd3df 100644 --- a/system/loggerd/tests/test_encoder.py +++ b/system/loggerd/tests/test_encoder.py @@ -19,11 +19,12 @@ from openpilot.system.hardware.hw import Paths SEGMENT_LENGTH = 2 FULL_SIZE = 2507572 +def hevc_size(w): return FULL_SIZE // 2 if w <= 1344 else FULL_SIZE CAMERAS = [ - ("fcamera.hevc", 20, FULL_SIZE, "roadEncodeIdx"), - ("dcamera.hevc", 20, FULL_SIZE, "driverEncodeIdx"), - ("ecamera.hevc", 20, FULL_SIZE, "wideRoadEncodeIdx"), - ("qcamera.ts", 20, 130000, None), + ("fcamera.hevc", 20, hevc_size, "roadEncodeIdx"), + ("dcamera.hevc", 20, hevc_size, "driverEncodeIdx"), + ("ecamera.hevc", 20, hevc_size, "wideRoadEncodeIdx"), + ("qcamera.ts", 20, lambda x: 130000, None), ] # we check frame count, so we don't have to be too strict on size @@ -76,7 +77,7 @@ class TestEncoder: # check each camera file size counts = [] first_frames = [] - for camera, fps, size, encode_idx_name in CAMERAS: + for camera, fps, size_lambda, encode_idx_name in CAMERAS: if not record_front and "dcamera" in camera: continue @@ -86,14 +87,14 @@ class TestEncoder: assert os.path.exists(file_path), f"segment #{i}: '{file_path}' missing" # TODO: this ffprobe call is really slow - # check frame count - cmd = f"ffprobe -v error -select_streams v:0 -count_packets -show_entries stream=nb_read_packets -of csv=p=0 {file_path}" + # get width and check frame count + cmd = f"ffprobe -v error -select_streams v:0 -count_packets -show_entries stream=nb_read_packets,width -of csv=p=0 {file_path}" if TICI: cmd = "LD_LIBRARY_PATH=/usr/local/lib " + cmd expected_frames = fps * SEGMENT_LENGTH - probe = subprocess.check_output(cmd, shell=True, encoding='utf8') - frame_count = int(probe.split('\n')[0].strip()) + probe = subprocess.check_output(cmd, shell=True, encoding='utf8').split('\n')[0].strip().split(',') + frame_width, frame_count = int(probe[0]), int(probe[1]) counts.append(frame_count) assert frame_count == expected_frames, \ @@ -101,8 +102,9 @@ class TestEncoder: # sanity check file size file_size = os.path.getsize(file_path) - assert math.isclose(file_size, size, rel_tol=FILE_SIZE_TOLERANCE), \ - f"{file_path} size {file_size} isn't close to target size {size}" + target_size = size_lambda(frame_width) + assert math.isclose(file_size, target_size, rel_tol=FILE_SIZE_TOLERANCE), \ + f"{file_path} size {file_size} isn't close to target size {target_size}" # Check encodeIdx if encode_idx_name is not None: From 6cf710d4cbe1f7b4431f615cfefb919210463fba Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 6 Aug 2025 22:00:12 -0700 Subject: [PATCH 088/107] Widget: add enabled property (#35944) * add enabled * sort * rename * rest * rm that --- system/ui/lib/application.py | 6 ++-- system/ui/setup.py | 15 +++++----- system/ui/widgets/__init__.py | 52 ++++++++++++++++++++--------------- system/ui/widgets/button.py | 2 -- system/ui/widgets/keyboard.py | 4 +-- system/ui/widgets/network.py | 6 ++-- system/ui/widgets/toggle.py | 3 -- 7 files changed, 46 insertions(+), 42 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 30672fba0..718bf036f 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -19,7 +19,7 @@ FPS_LOG_INTERVAL = 5 # Seconds between logging FPS drops FPS_DROP_THRESHOLD = 0.9 # FPS drop threshold for triggering a warning FPS_CRITICAL_THRESHOLD = 0.5 # Critical threshold for triggering strict actions MOUSE_THREAD_RATE = 140 # touch controller runs at 140Hz -MAX_TOUCH_SLOT = 2 +MAX_TOUCH_SLOTS = 2 ENABLE_VSYNC = os.getenv("ENABLE_VSYNC", "0") == "1" SHOW_FPS = os.getenv("SHOW_FPS") == "1" @@ -69,7 +69,7 @@ class MouseEvent(NamedTuple): class MouseState: def __init__(self): self._events: deque[MouseEvent] = deque(maxlen=MOUSE_THREAD_RATE) # bound event list - self._prev_mouse_event: list[MouseEvent | None] = [None] * MAX_TOUCH_SLOT + self._prev_mouse_event: list[MouseEvent | None] = [None] * MAX_TOUCH_SLOTS self._rk = Ratekeeper(MOUSE_THREAD_RATE) self._lock = threading.Lock() @@ -100,7 +100,7 @@ class MouseState: self._rk.keep_time() def _handle_mouse_event(self): - for slot in range(MAX_TOUCH_SLOT): + for slot in range(MAX_TOUCH_SLOTS): mouse_pos = rl.get_touch_position(slot) ev = MouseEvent( MousePos(mouse_pos.x, mouse_pos.y), diff --git a/system/ui/setup.py b/system/ui/setup.py index 2392449f9..2dcefcedb 100755 --- a/system/ui/setup.py +++ b/system/ui/setup.py @@ -65,14 +65,15 @@ class Setup(Widget): self._software_selection_openpilot_button = ButtonRadio("openpilot", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80) self._software_selection_custom_software_button = ButtonRadio("Custom Software", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80) self._software_selection_continue_button = Button("Continue", self._software_selection_continue_button_callback, - button_style=ButtonStyle.PRIMARY, enabled=False) + button_style=ButtonStyle.PRIMARY) + self._software_selection_continue_button.set_enabled(False) self._software_selection_back_button = Button("Back", self._software_selection_back_button_callback) self._download_failed_reboot_button = Button("Reboot device", HARDWARE.reboot) self._download_failed_startover_button = Button("Start over", self._download_failed_startover_button_callback, button_style=ButtonStyle.PRIMARY) self._network_setup_back_button = Button("Back", self._network_setup_back_button_callback) self._network_setup_continue_button = Button("Waiting for internet", self._network_setup_continue_button_callback, - button_style=ButtonStyle.PRIMARY, enabled=False) - + button_style=ButtonStyle.PRIMARY) + self._network_setup_continue_button.set_enabled(False) try: with open("/sys/class/hwmon/hwmon1/in1_input") as f: @@ -196,7 +197,7 @@ class Setup(Widget): # Check network connectivity status continue_enabled = self.network_connected.is_set() - self._network_setup_continue_button.enabled = continue_enabled + self._network_setup_continue_button.set_enabled(continue_enabled) continue_text = ("Continue" if self.wifi_connected.is_set() else "Continue without Wi-Fi") if continue_enabled else "Waiting for internet" self._network_setup_continue_button.set_text(continue_text) self._network_setup_continue_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT)) @@ -208,20 +209,20 @@ class Setup(Widget): radio_height = 230 radio_spacing = 30 - self._software_selection_continue_button.enabled = False + self._software_selection_continue_button.set_enabled(False) openpilot_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE + MARGIN * 2, rect.width - MARGIN * 2, radio_height) self._software_selection_openpilot_button.render(openpilot_rect) if self._software_selection_openpilot_button.selected: - self._software_selection_continue_button.enabled = True + self._software_selection_continue_button.set_enabled(True) self._software_selection_custom_software_button.selected = False custom_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE + MARGIN * 2 + radio_height + radio_spacing, rect.width - MARGIN * 2, radio_height) self._software_selection_custom_software_button.render(custom_rect) if self._software_selection_custom_software_button.selected: - self._software_selection_continue_button.enabled = True + self._software_selection_continue_button.set_enabled(True) self._software_selection_openpilot_button.selected = False button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2 diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index 2d619cbd1..a2c34799f 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -2,7 +2,7 @@ import abc import pyray as rl from enum import IntEnum from collections.abc import Callable -from openpilot.system.ui.lib.application import gui_app, MousePos, MAX_TOUCH_SLOT +from openpilot.system.ui.lib.application import gui_app, MousePos, MAX_TOUCH_SLOTS class DialogResult(IntEnum): @@ -15,34 +15,16 @@ class Widget(abc.ABC): def __init__(self): self._rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0) self._parent_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0) - self._is_pressed = [False] * MAX_TOUCH_SLOT - self._multi_touch = False + self._is_pressed = [False] * MAX_TOUCH_SLOTS + self._enabled: bool | Callable[[], bool] = True self._is_visible: bool | Callable[[], bool] = True self._touch_valid_callback: Callable[[], bool] | None = None - - def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None: - """Set a callback to determine if the widget can be clicked.""" - self._touch_valid_callback = touch_callback - - def _touch_valid(self) -> bool: - """Check if the widget can be touched.""" - return self._touch_valid_callback() if self._touch_valid_callback else True - - @property - def is_visible(self) -> bool: - return self._is_visible() if callable(self._is_visible) else self._is_visible - - @property - def is_pressed(self) -> bool: - return any(self._is_pressed) + self._multi_touch = False @property def rect(self) -> rl.Rectangle: return self._rect - def set_visible(self, visible: bool | Callable[[], bool]) -> None: - self._is_visible = visible - def set_rect(self, rect: rl.Rectangle) -> None: changed = (self._rect.x != rect.x or self._rect.y != rect.y or self._rect.width != rect.width or self._rect.height != rect.height) @@ -54,6 +36,32 @@ class Widget(abc.ABC): """Can be used like size hint in QT""" self._parent_rect = parent_rect + @property + def is_pressed(self) -> bool: + return any(self._is_pressed) + + @property + def enabled(self) -> bool: + return self._enabled() if callable(self._enabled) else self._enabled + + def set_enabled(self, enabled: bool | Callable[[], bool]) -> None: + self._enabled = enabled + + @property + def is_visible(self) -> bool: + return self._is_visible() if callable(self._is_visible) else self._is_visible + + def set_visible(self, visible: bool | Callable[[], bool]) -> None: + self._is_visible = visible + + def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None: + """Set a callback to determine if the widget can be clicked.""" + self._touch_valid_callback = touch_callback + + def _touch_valid(self) -> bool: + """Check if the widget can be touched.""" + return self._touch_valid_callback() if self._touch_valid_callback else True + def set_position(self, x: float, y: float) -> None: changed = (self._rect.x != x or self._rect.y != y) self._rect.x, self._rect.y = x, y diff --git a/system/ui/widgets/button.py b/system/ui/widgets/button.py index 5113b61db..41af8e51c 100644 --- a/system/ui/widgets/button.py +++ b/system/ui/widgets/button.py @@ -172,7 +172,6 @@ class Button(Widget): border_radius: int = 10, text_alignment: TextAlignment = TextAlignment.CENTER, text_padding: int = 20, - enabled: bool = True, icon = None, multi_touch: bool = False, ): @@ -187,7 +186,6 @@ class Button(Widget): self._click_callback = click_callback self._multi_touch = multi_touch - self.enabled = enabled def set_text(self, text): self._label.set_text(text) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index dee424a2d..25843d1ce 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -187,10 +187,10 @@ class Keyboard(Widget): if key in self._key_icons: if key == SHIFT_ACTIVE_KEY and self._caps_lock: key = CAPS_LOCK_KEY - self._all_keys[key].enabled = is_enabled + self._all_keys[key].set_enabled(is_enabled) self._all_keys[key].render(key_rect) else: - self._all_keys[key].enabled = is_enabled + self._all_keys[key].set_enabled(is_enabled) self._all_keys[key].render(key_rect) return self._render_return_status diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index b2cbcb7e5..35912a35f 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -150,14 +150,14 @@ class WifiManagerUI(Widget): match self.state: case StateConnecting(network=connecting): if connecting.ssid == network.ssid: - self._networks_buttons[network.ssid].enabled = False + self._networks_buttons[network.ssid].set_enabled(False) status_text = "CONNECTING..." case StateForgetting(network=forgetting): if forgetting.ssid == network.ssid: - self._networks_buttons[network.ssid].enabled = False + self._networks_buttons[network.ssid].set_enabled(False) status_text = "FORGETTING..." case _: - self._networks_buttons[network.ssid].enabled = True + self._networks_buttons[network.ssid].set_enabled(True) self._networks_buttons[network.ssid].render(ssid_rect) diff --git a/system/ui/widgets/toggle.py b/system/ui/widgets/toggle.py index 3f7f46391..eba5ef9e5 100644 --- a/system/ui/widgets/toggle.py +++ b/system/ui/widgets/toggle.py @@ -38,9 +38,6 @@ class Toggle(Widget): self._state = state self._target = 1.0 if state else 0.0 - def set_enabled(self, enabled: bool): - self._enabled = enabled - def is_enabled(self): return self._enabled From ed0346980cf31f985eca071e56ff16c75499ae4c Mon Sep 17 00:00:00 2001 From: Brett Sanderson Date: Thu, 7 Aug 2025 14:47:50 -0400 Subject: [PATCH 089/107] Update plotjuggler README.md (#35946) Update README.md Real example using segment range. Remove segment count as its not a parameter. --- tools/plotjuggler/README.md | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md index 794c292e6..62905a252 100644 --- a/tools/plotjuggler/README.md +++ b/tools/plotjuggler/README.md @@ -13,14 +13,13 @@ Once you've [set up the openpilot environment](../README.md), this command will ``` $ ./juggle.py -h usage: juggle.py [-h] [--demo] [--can] [--stream] [--layout [LAYOUT]] [--install] [--dbc DBC] - [route_or_segment_name] [segment_count] + [route_or_segment_name] A helper to run PlotJuggler on openpilot routes positional arguments: route_or_segment_name The route or segment name to plot (cabana share URL accepted) (default: None) - segment_count The number of segments to plot (default: None) optional arguments: -h, --help show this help message and exit @@ -34,16 +33,20 @@ optional arguments: ``` -Examples using route name: +Example using route name: `./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19"` -Examples using segment range: +Examples using segment: `./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1"` `./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1/q" # use qlogs` +Example using segment range: + +`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/0:1"` + ## Streaming Explore live data from your car! Follow these steps to stream from your comma device to your laptop: From f04bb6b9fa8b6ab5dcddbc0b7283a38d3a83d604 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 7 Aug 2025 13:43:27 -0700 Subject: [PATCH 090/107] ui: reduce network selection lag (#35945) lag --- system/ui/lib/wifi_manager.py | 9 ++------- system/ui/widgets/network.py | 3 +-- 2 files changed, 3 insertions(+), 9 deletions(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index acdab3b41..50b26acc4 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -441,20 +441,19 @@ class WifiManager: settings_iface.on_connection_removed(self._on_connection_removed) def _on_properties_changed(self, interface: str, changed: dict, invalidated: list): - if 'LastScan' in changed: + if interface == NM_WIRELESS_IFACE and 'LastScan' in changed: asyncio.create_task(self._refresh_networks()) elif interface == NM_WIRELESS_IFACE and "ActiveAccessPoint" in changed: new_ap_path = changed["ActiveAccessPoint"].value if self.active_ap_path != new_ap_path: self.active_ap_path = new_ap_path - asyncio.create_task(self._refresh_networks()) def _on_state_changed(self, new_state: int, old_state: int, reason: int): if new_state == NMDeviceState.ACTIVATED: if self.callbacks.activated: self.callbacks.activated() - asyncio.create_task(self._refresh_networks()) self._current_connection_ssid = None + asyncio.create_task(self._refresh_networks()) elif new_state in (NMDeviceState.DISCONNECTED, NMDeviceState.NEED_AUTH): for network in self.networks: network.is_connected = False @@ -487,9 +486,6 @@ class WifiManager: if self.callbacks.forgotten: self.callbacks.forgotten(ssid) - - # Update network list to reflect the removed saved connection - asyncio.create_task(self._refresh_networks()) break async def _add_saved_connection(self, path: str) -> None: @@ -498,7 +494,6 @@ class WifiManager: settings = await self._get_connection_settings(path) if ssid := self._extract_ssid(settings): self.saved_connections[ssid] = path - await self._refresh_networks() except DBusError as e: cloudlog.error(f"Failed to add connection {path}: {e}") diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 35912a35f..4eac1214c 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -187,8 +187,7 @@ class WifiManagerUI(Widget): def _forget_networks_buttons_callback(self, network): if self.scroll_panel.is_touch_valid(): - if isinstance(self.state, StateIdle): - self.state = StateShowForgetConfirm(network) + self.state = StateShowForgetConfirm(network) def _draw_status_icon(self, rect, network: NetworkInfo): """Draw the status icon based on network's connection state""" From f13ec6cb27ca7cf711e9e939808a3a5f0c52021b Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 7 Aug 2025 14:22:34 -0700 Subject: [PATCH 091/107] wifi manager: correctly handle emoji ssid --- system/ui/lib/wifi_manager.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 50b26acc4..5d0f84bc8 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -500,7 +500,7 @@ class WifiManager: def _extract_ssid(self, settings: dict) -> str | None: """Extract SSID from connection settings.""" ssid_variant = settings.get('802-11-wireless', {}).get('ssid', Variant('ay', b'')).value - return ''.join(chr(b) for b in ssid_variant) if ssid_variant else None + return bytes(ssid_variant).decode('utf-8') if ssid_variant else None async def _add_match_rule(self, rule): """Add a match rule on the bus.""" From a800c129b003f6efceb9274cc885a4ddaff2641d Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 7 Aug 2025 14:33:40 -0700 Subject: [PATCH 092/107] run setup and reset at 20FPS for now --- system/ui/reset.py | 2 +- system/ui/setup.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/system/ui/reset.py b/system/ui/reset.py index e3f9e7b2d..b1bf5a6b6 100755 --- a/system/ui/reset.py +++ b/system/ui/reset.py @@ -125,7 +125,7 @@ def main(): elif sys.argv[1] == "--format": mode = ResetMode.FORMAT - gui_app.init_window("System Reset") + gui_app.init_window("System Reset", 20) reset = Reset(mode) if mode == ResetMode.FORMAT: diff --git a/system/ui/setup.py b/system/ui/setup.py index 2dcefcedb..41462d448 100755 --- a/system/ui/setup.py +++ b/system/ui/setup.py @@ -333,7 +333,7 @@ class Setup(Widget): def main(): try: - gui_app.init_window("Setup") + gui_app.init_window("Setup", 20) setup = Setup() for _ in gui_app.render(): setup.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) From 7bfac9d0507c4465a21a2b1e30545060ba7ae8bc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 7 Aug 2025 16:28:16 -0700 Subject: [PATCH 093/107] raylib ui: improve is_pressed (#35950) * stash * clean up exp * come on * fix * ? * maybe better * fix * same order * clean up --- selfdrive/ui/layouts/sidebar.py | 2 +- selfdrive/ui/onroad/exp_button.py | 2 +- selfdrive/ui/widgets/exp_mode_button.py | 16 ++++------------ system/ui/widgets/__init__.py | 18 ++++++++++++++++++ 4 files changed, 24 insertions(+), 14 deletions(-) diff --git a/selfdrive/ui/layouts/sidebar.py b/selfdrive/ui/layouts/sidebar.py index 82d499716..6af947a10 100644 --- a/selfdrive/ui/layouts/sidebar.py +++ b/selfdrive/ui/layouts/sidebar.py @@ -146,7 +146,7 @@ class Sidebar(Widget): def _draw_buttons(self, rect: rl.Rectangle): mouse_pos = rl.get_mouse_position() - mouse_down = self._is_pressed and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) + mouse_down = self.is_pressed and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) # Settings button settings_down = mouse_down and rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN) diff --git a/selfdrive/ui/onroad/exp_button.py b/selfdrive/ui/onroad/exp_button.py index e6748e4e0..27f576307 100644 --- a/selfdrive/ui/onroad/exp_button.py +++ b/selfdrive/ui/onroad/exp_button.py @@ -50,7 +50,7 @@ class ExpButton(Widget): center_y = int(self._rect.y + self._rect.height // 2) mouse_over = rl.check_collision_point_rec(rl.get_mouse_position(), self._rect) - mouse_down = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self._is_pressed + mouse_down = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self.is_pressed self._white_color.a = 180 if (mouse_down and mouse_over) or not self._engageable else 255 texture = self._txt_exp if self._held_or_actual_mode() else self._txt_wheel diff --git a/selfdrive/ui/widgets/exp_mode_button.py b/selfdrive/ui/widgets/exp_mode_button.py index be50c59d0..88664e0fa 100644 --- a/selfdrive/ui/widgets/exp_mode_button.py +++ b/selfdrive/ui/widgets/exp_mode_button.py @@ -14,7 +14,6 @@ class ExperimentalModeButton(Widget): self.params = Params() self.experimental_mode = self.params.get_bool("ExperimentalMode") - self.is_pressed = False self.chill_pixmap = gui_app.texture("icons/couch.png", self.img_width, self.img_width) self.experimental_pixmap = gui_app.texture("icons/experimental_grey.png", self.img_width, self.img_width) @@ -32,19 +31,12 @@ class ExperimentalModeButton(Widget): rl.draw_rectangle_gradient_h(int(rect.x), int(rect.y), int(rect.width), int(rect.height), start_color, end_color) - def _handle_interaction(self, rect): - mouse_pos = rl.get_mouse_position() - mouse_in_rect = rl.check_collision_point_rec(mouse_pos, rect) - - self.is_pressed = mouse_in_rect and rl.is_mouse_button_down(rl.MOUSE_BUTTON_LEFT) - return mouse_in_rect and rl.is_mouse_button_released(rl.MOUSE_BUTTON_LEFT) + def _handle_mouse_release(self, mouse_pos): + self.experimental_mode = not self.experimental_mode + # TODO: Opening settings for ExperimentalMode + self.params.put_bool("ExperimentalMode", self.experimental_mode) def _render(self, rect): - if self._handle_interaction(rect): - self.experimental_mode = not self.experimental_mode - # TODO: Opening settings for ExperimentalMode - self.params.put_bool("ExperimentalMode", self.experimental_mode) - rl.draw_rectangle_rounded(rect, 0.08, 20, rl.Color(255, 255, 255, 255)) rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height)) diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index a2c34799f..dc8721603 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -16,6 +16,8 @@ class Widget(abc.ABC): self._rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0) self._parent_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0) self._is_pressed = [False] * MAX_TOUCH_SLOTS + # if current mouse/touch down started within the widget's rectangle + self._tracking_is_pressed = [False] * MAX_TOUCH_SLOTS self._enabled: bool | Callable[[], bool] = True self._is_visible: bool | Callable[[], bool] = True self._touch_valid_callback: Callable[[], bool] | None = None @@ -83,17 +85,33 @@ class Widget(abc.ABC): for mouse_event in gui_app.mouse_events: if not self._multi_touch and mouse_event.slot != 0: continue + + # Ignores touches/presses that start outside our rect + # Allows touch to leave the rect and come back in focus if mouse did not release if mouse_event.left_pressed and self._touch_valid(): if rl.check_collision_point_rec(mouse_event.pos, self._rect): self._is_pressed[mouse_event.slot] = True + self._tracking_is_pressed[mouse_event.slot] = True + # Callback such as scroll panel signifies user is scrolling elif not self._touch_valid(): self._is_pressed[mouse_event.slot] = False + self._tracking_is_pressed[mouse_event.slot] = False elif mouse_event.left_released: if self._is_pressed[mouse_event.slot] and rl.check_collision_point_rec(mouse_event.pos, self._rect): self._handle_mouse_release(mouse_event.pos) self._is_pressed[mouse_event.slot] = False + self._tracking_is_pressed[mouse_event.slot] = False + + # Mouse/touch is still within our rect + elif rl.check_collision_point_rec(mouse_event.pos, self._rect): + if self._tracking_is_pressed[mouse_event.slot]: + self._is_pressed[mouse_event.slot] = True + + # Mouse/touch left our rect but may come back into focus later + elif not rl.check_collision_point_rec(mouse_event.pos, self._rect): + self._is_pressed[mouse_event.slot] = False return ret From 0e9de8f1b171d31d16884378df4d778c8751d956 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 7 Aug 2025 23:08:42 -0700 Subject: [PATCH 094/107] ui: support text wrapping in Label (#35952) * lb * t * Revert "t" This reverts commit a9b8e2b9faa5e9d1b189c1dc2ed1aa876e4df476. * tr * Revert "tr" This reverts commit 8de8719ded0fed2b0e5469230e83c13714f88319. * better * much better --- system/ui/widgets/label.py | 71 +++++++++++++++++++++++--------------- 1 file changed, 43 insertions(+), 28 deletions(-) diff --git a/system/ui/widgets/label.py b/system/ui/widgets/label.py index 2b0b01769..2da9a9f8d 100644 --- a/system/ui/widgets/label.py +++ b/system/ui/widgets/label.py @@ -1,4 +1,5 @@ from enum import IntEnum +from itertools import zip_longest import pyray as rl @@ -6,6 +7,7 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEX from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.lib.utils import GuiStyleContext from openpilot.system.ui.lib.emoji import find_emoji, emoji_tex +from openpilot.system.ui.lib.wrap_text import wrap_text from openpilot.system.ui.widgets import Widget ICON_PADDING = 15 @@ -103,60 +105,73 @@ class Label(Widget): ): super().__init__() - self._text = text self._font_weight = font_weight self._font = gui_app.font(self._font_weight) self._font_size = font_size self._text_alignment = text_alignment self._text_padding = text_padding - self._text_size = measure_text_cached(self._font, self._text, self._font_size) self._text_color = text_color self._icon = icon - self._emojis = find_emoji(self._text) + self.set_text(text) def set_text(self, text): - self._text = text - self._emojis = find_emoji(self._text) - self._text_size = measure_text_cached(self._font, self._text, self._font_size) + self._text_raw = text + self._update_text(self._text_raw) def set_text_color(self, color): self._text_color = color + def _update_layout_rects(self): + self._update_text(self._text_raw) + + def _update_text(self, text): + self._emojis = [] + self._text_size = [] + self._text = wrap_text(self._font, text, self._font_size, self._rect.width - (self._text_padding*2)) + for t in self._text: + self._emojis.append(find_emoji(t)) + self._text_size.append(measure_text_cached(self._font, t, self._font_size)) + def _render(self, _): - text_pos = rl.Vector2(0, self._rect.y + (self._rect.height - self._text_size.y) // 2) + text = self._text[0] if self._text else None + text_size = self._text_size[0] if self._text_size else rl.Vector2(0.0, 0.0) + text_pos = rl.Vector2(0, (self._rect.y + (self._rect.height - (text_size.y)) // 2)) + if self._icon: icon_y = self._rect.y + (self._rect.height - self._icon.height) / 2 - if self._text: + if text: if self._text_alignment == TextAlignment.LEFT: icon_x = self._rect.x + self._text_padding - text_pos.x = icon_x + self._icon.width + ICON_PADDING + text_pos.x = self._icon.width + ICON_PADDING elif self._text_alignment == TextAlignment.CENTER: - total_width = self._icon.width + ICON_PADDING + self._text_size.x + total_width = self._icon.width + ICON_PADDING + text_size.x icon_x = self._rect.x + (self._rect.width - total_width) / 2 - text_pos.x = icon_x + self._icon.width + ICON_PADDING + text_pos.x = self._icon.width + ICON_PADDING else: - text_pos.x = self._rect.x + self._rect.width - self._text_size.x - self._text_padding - icon_x = text_pos.x - ICON_PADDING - self._icon.width + icon_x = (self._rect.x + self._rect.width - text_size.x - self._text_padding) - ICON_PADDING - self._icon.width else: icon_x = self._rect.x + (self._rect.width - self._icon.width) / 2 rl.draw_texture_v(self._icon, rl.Vector2(icon_x, icon_y), rl.WHITE) - else: + + for text, text_size, emojis in zip_longest(self._text, self._text_size, self._emojis, fillvalue=[]): + line_pos = rl.Vector2(text_pos.x, text_pos.y) if self._text_alignment == TextAlignment.LEFT: - text_pos.x = self._rect.x + self._text_padding + line_pos.x += self._rect.x + self._text_padding elif self._text_alignment == TextAlignment.CENTER: - text_pos.x = self._rect.x + (self._rect.width - self._text_size.x) // 2 + line_pos.x += self._rect.x + (self._rect.width - text_size.x) // 2 elif self._text_alignment == TextAlignment.RIGHT: - text_pos.x = self._rect.x + self._rect.width - self._text_size.x - self._text_padding + line_pos.x += self._rect.x + self._rect.width - text_size.x - self._text_padding - prev_index = 0 - for start, end, emoji in self._emojis: - text_before = self._text[prev_index:start] - width_before = measure_text_cached(self._font, text_before, self._font_size) - rl.draw_text_ex(self._font, text_before, text_pos, self._font_size, 0, self._text_color) - text_pos.x += width_before.x + prev_index = 0 + for start, end, emoji in emojis: + text_before = text[prev_index:start] + width_before = measure_text_cached(self._font, text_before, self._font_size) + rl.draw_text_ex(self._font, text_before, line_pos, self._font_size, 0, self._text_color) + line_pos.x += width_before.x - tex = emoji_tex(emoji) - rl.draw_texture_ex(tex, text_pos, 0.0, self._font_size / tex.height, self._text_color) - text_pos.x += self._font_size - prev_index = end - rl.draw_text_ex(self._font, self._text[prev_index:], text_pos, self._font_size, 0, self._text_color) + tex = emoji_tex(emoji) + rl.draw_texture_ex(tex, line_pos, 0.0, self._font_size / tex.height, self._text_color) + line_pos.x += self._font_size + prev_index = end + rl.draw_text_ex(self._font, text[prev_index:], line_pos, self._font_size, 0, self._text_color) + text_pos.y += text_size.y or self._font_size From 1555c0b5fe5dc297efee313253a0951b3c1e089b Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 7 Aug 2025 23:19:48 -0700 Subject: [PATCH 095/107] ui: custom software warning (#35953) cu --- system/ui/setup.py | 38 ++++++++++++++++++++++++++++++++------ 1 file changed, 32 insertions(+), 6 deletions(-) diff --git a/system/ui/setup.py b/system/ui/setup.py index 41462d448..6c95a72fe 100755 --- a/system/ui/setup.py +++ b/system/ui/setup.py @@ -13,7 +13,7 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.widgets import 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 gui_label, gui_text_box +from openpilot.system.ui.widgets.label import gui_label, gui_text_box, Label, TextAlignment from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManagerWrapper NetworkType = log.DeviceState.NetworkType @@ -35,9 +35,10 @@ class SetupState(IntEnum): GETTING_STARTED = 1 NETWORK_SETUP = 2 SOFTWARE_SELECTION = 3 - CUSTOM_URL = 4 + CUSTOM_SOFTWARE = 4 DOWNLOADING = 5 DOWNLOAD_FAILED = 6 + CUSTOM_SOFTWARE_WARNING = 7 class Setup(Widget): @@ -74,6 +75,14 @@ class Setup(Widget): self._network_setup_continue_button = Button("Waiting for internet", self._network_setup_continue_button_callback, button_style=ButtonStyle.PRIMARY) self._network_setup_continue_button.set_enabled(False) + self._custom_software_warning_continue_button = Button("Continue", self._custom_software_warning_continue_button_callback) + self._custom_software_warning_back_button = Button("Back", self._custom_software_warning_back_button_callback) + self._custom_software_warning_title_label = Label("WARNING: Custom Software", 100, FontWeight.BOLD, TextAlignment.LEFT, text_color=rl.Color(255,89,79,255), + text_padding=60) + self._custom_software_warning_body_label = Label("Use caution when installing third-party software. Third-party software has not been tested by comma," + + " and may cause damage to your device and/or vehicle.\n\nIf you'd like to proceed, use https://flash.comma.ai " + + "to restore your device to a factory state later.", + 85, text_alignment=TextAlignment.LEFT, text_padding=60) try: with open("/sys/class/hwmon/hwmon1/in1_input") as f: @@ -92,8 +101,10 @@ class Setup(Widget): self.render_network_setup(rect) elif self.state == SetupState.SOFTWARE_SELECTION: self.render_software_selection(rect) - elif self.state == SetupState.CUSTOM_URL: - self.render_custom_url() + elif self.state == SetupState.CUSTOM_SOFTWARE_WARNING: + self.render_custom_software_warning(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: @@ -102,6 +113,12 @@ class Setup(Widget): def _low_voltage_continue_button_callback(self): self.state = SetupState.GETTING_STARTED + def _custom_software_warning_back_button_callback(self): + self.state = SetupState.SOFTWARE_SELECTION + + def _custom_software_warning_continue_button_callback(self): + self.state = SetupState.CUSTOM_SOFTWARE + def _getting_started_button_callback(self): self.state = SetupState.NETWORK_SETUP self.stop_network_check_thread.clear() @@ -116,7 +133,7 @@ class Setup(Widget): if self._software_selection_openpilot_button.selected: self.download(OPENPILOT_URL) else: - self.state = SetupState.CUSTOM_URL + self.state = SetupState.CUSTOM_SOFTWARE_WARNING def _download_failed_startover_button_callback(self): self.state = SetupState.GETTING_STARTED @@ -251,7 +268,16 @@ class Setup(Widget): self._download_failed_reboot_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT)) self._download_failed_startover_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT)) - def render_custom_url(self): + def render_custom_software_warning(self, rect: rl.Rectangle): + self._custom_software_warning_title_label.render(rl.Rectangle(rect.x + 50, rect.y + 150, rect.width - 265, TITLE_FONT_SIZE)) + self._custom_software_warning_body_label.render(rl.Rectangle(rect.x + 50, rect.y + 200 , rect.width - 50, BODY_FONT_SIZE * 3)) + + button_width = (rect.width - MARGIN * 3) / 2 + button_y = rect.height - MARGIN - BUTTON_HEIGHT + self._custom_software_warning_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT)) + self._custom_software_warning_continue_button.render(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT)) + + def render_custom_software(self): def handle_keyboard_result(result): # Enter pressed if result == 1: From 5117a8c3a6e0db398f4ecb5709c361e1b06506a0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 8 Aug 2025 00:34:53 -0700 Subject: [PATCH 096/107] ui: test raylib ui (#35949) * add raylib ui * test * this is better for now * rm rm * finalize it * need this? * ? * shite shite * try * ? * huh * simp * ? * wtf is going on * ??????????????? * lock * stash * no 2 packages * Revert "stash" This reverts commit 9efb0d9bda6a6309e7a567634d1921bf1cd0fb59. * debug * noo * debug * ? * and * yeah yeah * init one * 2 * i wonder * oooh * make sure * fix dat * try this * see if wifiman * forgot * ? * ??? * fuck this we can rewrite it later --- .github/workflows/selfdrive_tests.yaml | 7 ++++--- selfdrive/ui/tests/test_raylib_ui.py | 8 ++++++++ system/manager/process_config.py | 1 + 3 files changed, 13 insertions(+), 3 deletions(-) create mode 100644 selfdrive/ui/tests/test_raylib_ui.py diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 1684a0af4..fdad7b681 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -159,10 +159,11 @@ jobs: - name: Build openpilot run: ${{ env.RUN }} "scons -j$(nproc)" - name: Run unit tests - timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }} + timeout-minutes: 5 run: | - ${{ env.RUN }} "$PYTEST --collect-only -m 'not slow' &> /dev/null && \ - MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \ + ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ + $PYTEST --collect-only -m 'not slow' &> /dev/null && \ + PYTHONTRACEMALLOC=1 MAX_EXAMPLES=1 $PYTEST -m 'not slow' -k test_raylib_ui && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ chmod -R 777 /tmp/comma_download_cache" diff --git a/selfdrive/ui/tests/test_raylib_ui.py b/selfdrive/ui/tests/test_raylib_ui.py new file mode 100644 index 000000000..3f2330197 --- /dev/null +++ b/selfdrive/ui/tests/test_raylib_ui.py @@ -0,0 +1,8 @@ +import time +from openpilot.selfdrive.test.helpers import with_processes + + +@with_processes(["raylib_ui"]) +def test_raylib_ui(): + """Test initialization of the UI widgets is successful.""" + time.sleep(1) diff --git a/system/manager/process_config.py b/system/manager/process_config.py index a3787b644..5758512f2 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -81,6 +81,7 @@ procs = [ PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC), NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)), + PythonProcess("raylib_ui", "selfdrive.ui.ui", always_run, enabled=False, watchdog_max_dt=(5 if not PC else None)), PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad), PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad), NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False), From a79a5e5a16bde9cb7f0a6fedfcf48b1a7167c453 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 8 Aug 2025 00:31:40 -0700 Subject: [PATCH 097/107] revert i thought i pushed! --- .github/workflows/selfdrive_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index fdad7b681..c4dfebd99 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -159,7 +159,7 @@ jobs: - name: Build openpilot run: ${{ env.RUN }} "scons -j$(nproc)" - name: Run unit tests - timeout-minutes: 5 + timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }} run: | ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ $PYTEST --collect-only -m 'not slow' &> /dev/null && \ From fd32fcd20d5fcad846dd0a2cc91d51b924bb6320 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 8 Aug 2025 01:09:03 -0700 Subject: [PATCH 098/107] raylib ui: only process mouse events when enabled (#35948) --- system/ui/widgets/__init__.py | 51 ++++++++++++++++++----------------- 1 file changed, 26 insertions(+), 25 deletions(-) diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index dc8721603..d45f48ac3 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -82,36 +82,37 @@ class Widget(abc.ABC): ret = self._render(self._rect) # Keep track of whether mouse down started within the widget's rectangle - for mouse_event in gui_app.mouse_events: - if not self._multi_touch and mouse_event.slot != 0: - continue + if self.enabled: + for mouse_event in gui_app.mouse_events: + if not self._multi_touch and mouse_event.slot != 0: + continue - # Ignores touches/presses that start outside our rect - # Allows touch to leave the rect and come back in focus if mouse did not release - if mouse_event.left_pressed and self._touch_valid(): - if rl.check_collision_point_rec(mouse_event.pos, self._rect): - self._is_pressed[mouse_event.slot] = True - self._tracking_is_pressed[mouse_event.slot] = True + # Ignores touches/presses that start outside our rect + # Allows touch to leave the rect and come back in focus if mouse did not release + if mouse_event.left_pressed and self._touch_valid(): + if rl.check_collision_point_rec(mouse_event.pos, self._rect): + self._is_pressed[mouse_event.slot] = True + self._tracking_is_pressed[mouse_event.slot] = True - # Callback such as scroll panel signifies user is scrolling - elif not self._touch_valid(): - self._is_pressed[mouse_event.slot] = False - self._tracking_is_pressed[mouse_event.slot] = False + # Callback such as scroll panel signifies user is scrolling + elif not self._touch_valid(): + self._is_pressed[mouse_event.slot] = False + self._tracking_is_pressed[mouse_event.slot] = False - elif mouse_event.left_released: - if self._is_pressed[mouse_event.slot] and rl.check_collision_point_rec(mouse_event.pos, self._rect): - self._handle_mouse_release(mouse_event.pos) - self._is_pressed[mouse_event.slot] = False - self._tracking_is_pressed[mouse_event.slot] = False + elif mouse_event.left_released: + if self._is_pressed[mouse_event.slot] and rl.check_collision_point_rec(mouse_event.pos, self._rect): + self._handle_mouse_release(mouse_event.pos) + self._is_pressed[mouse_event.slot] = False + self._tracking_is_pressed[mouse_event.slot] = False - # Mouse/touch is still within our rect - elif rl.check_collision_point_rec(mouse_event.pos, self._rect): - if self._tracking_is_pressed[mouse_event.slot]: - self._is_pressed[mouse_event.slot] = True + # Mouse/touch is still within our rect + elif rl.check_collision_point_rec(mouse_event.pos, self._rect): + if self._tracking_is_pressed[mouse_event.slot]: + self._is_pressed[mouse_event.slot] = True - # Mouse/touch left our rect but may come back into focus later - elif not rl.check_collision_point_rec(mouse_event.pos, self._rect): - self._is_pressed[mouse_event.slot] = False + # Mouse/touch left our rect but may come back into focus later + elif not rl.check_collision_point_rec(mouse_event.pos, self._rect): + self._is_pressed[mouse_event.slot] = False return ret From e596704644e45be4345e23aa866b8bfa4e7107bb Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 8 Aug 2025 16:00:00 -0700 Subject: [PATCH 099/107] ui: remove `gui_label` usages from setup (#35955) clean --- system/ui/setup.py | 58 +++++++++++++++++++++++++--------------------- 1 file changed, 31 insertions(+), 27 deletions(-) diff --git a/system/ui/setup.py b/system/ui/setup.py index 6c95a72fe..8ff6b6700 100755 --- a/system/ui/setup.py +++ b/system/ui/setup.py @@ -13,7 +13,7 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.widgets import 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 gui_label, gui_text_box, Label, TextAlignment +from openpilot.system.ui.widgets.label import Label, TextAlignment from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManagerWrapper NetworkType = log.DeviceState.NetworkType @@ -60,21 +60,38 @@ class Setup(Widget): self.selected_radio = None self.warning = gui_app.texture("icons/warning.png", 150, 150) self.checkmark = gui_app.texture("icons/circled_check.png", 100, 100) + + self._low_voltage_title_label = Label("WARNING: Low Voltage", TITLE_FONT_SIZE, FontWeight.MEDIUM, TextAlignment.LEFT, text_color=rl.Color(255, 89, 79, 255)) + self._low_voltage_body_label = Label("Power your device in a car with a harness or proceed at your own risk.", BODY_FONT_SIZE, + text_alignment=TextAlignment.LEFT) self._low_voltage_continue_button = Button("Continue", self._low_voltage_continue_button_callback) self._low_voltage_poweroff_button = Button("Power Off", HARDWARE.shutdown) + self._getting_started_button = Button("", self._getting_started_button_callback, button_style=ButtonStyle.PRIMARY, border_radius=0) + self._getting_started_title_label = Label("Getting Started", TITLE_FONT_SIZE, FontWeight.BOLD, TextAlignment.LEFT) + self._getting_started_body_label = Label("Before we get on the road, let's finish installation and cover some details.", + BODY_FONT_SIZE, text_alignment=TextAlignment.LEFT) + self._software_selection_openpilot_button = ButtonRadio("openpilot", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80) self._software_selection_custom_software_button = ButtonRadio("Custom Software", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80) self._software_selection_continue_button = Button("Continue", self._software_selection_continue_button_callback, button_style=ButtonStyle.PRIMARY) self._software_selection_continue_button.set_enabled(False) self._software_selection_back_button = Button("Back", self._software_selection_back_button_callback) + self._software_selection_title_label = Label("Choose Software to Use", TITLE_FONT_SIZE, FontWeight.BOLD, TextAlignment.LEFT) + self._download_failed_reboot_button = Button("Reboot device", HARDWARE.reboot) self._download_failed_startover_button = Button("Start over", self._download_failed_startover_button_callback, button_style=ButtonStyle.PRIMARY) + self._download_failed_title_label = Label("Download Failed", TITLE_FONT_SIZE, FontWeight.BOLD, TextAlignment.LEFT) + self._download_failed_url_label = Label("", 64, FontWeight.NORMAL, TextAlignment.LEFT) + self._download_failed_body_label = Label("", BODY_FONT_SIZE, text_alignment=TextAlignment.LEFT) + self._network_setup_back_button = Button("Back", self._network_setup_back_button_callback) self._network_setup_continue_button = Button("Waiting for internet", self._network_setup_continue_button_callback, button_style=ButtonStyle.PRIMARY) self._network_setup_continue_button.set_enabled(False) + self._network_setup_title_label = Label("Connect to Wi-Fi", TITLE_FONT_SIZE, FontWeight.BOLD, TextAlignment.LEFT) + self._custom_software_warning_continue_button = Button("Continue", self._custom_software_warning_continue_button_callback) self._custom_software_warning_back_button = Button("Back", self._custom_software_warning_back_button_callback) self._custom_software_warning_title_label = Label("WARNING: Custom Software", 100, FontWeight.BOLD, TextAlignment.LEFT, text_color=rl.Color(255,89,79,255), @@ -83,6 +100,7 @@ class Setup(Widget): + " and may cause damage to your device and/or vehicle.\n\nIf you'd like to proceed, use https://flash.comma.ai " + "to restore your device to a factory state later.", 85, text_alignment=TextAlignment.LEFT, text_padding=60) + self._downloading_body_label = Label("Downloading...", TITLE_FONT_SIZE, FontWeight.MEDIUM) try: with open("/sys/class/hwmon/hwmon1/in1_input") as f: @@ -148,27 +166,19 @@ class Setup(Widget): def render_low_voltage(self, rect: rl.Rectangle): rl.draw_texture(self.warning, int(rect.x + 150), int(rect.y + 110), rl.WHITE) - title_rect = rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 100, rect.width - 500 - 150, TITLE_FONT_SIZE) - gui_label(title_rect, "WARNING: Low Voltage", TITLE_FONT_SIZE, rl.Color(255, 89, 79, 255), FontWeight.MEDIUM) - - body_rect = rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 100 + TITLE_FONT_SIZE + 25, rect.width - 500 - 150, BODY_FONT_SIZE * 3) - gui_text_box(body_rect, "Power your device in a car with a harness or proceed at your own risk.", BODY_FONT_SIZE) + self._low_voltage_title_label.render(rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 100, rect.width - 500 - 150, TITLE_FONT_SIZE)) + self._low_voltage_body_label.render(rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 150, rect.width - 500, BODY_FONT_SIZE * 3)) button_width = (rect.width - MARGIN * 3) / 2 button_y = rect.height - MARGIN - BUTTON_HEIGHT - self._low_voltage_poweroff_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT)) self._low_voltage_continue_button.render(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT)) def render_getting_started(self, rect: rl.Rectangle): - title_rect = rl.Rectangle(rect.x + 165, rect.y + 280, rect.width - 265, TITLE_FONT_SIZE) - gui_label(title_rect, "Getting Started", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM) - - desc_rect = rl.Rectangle(rect.x + 165, rect.y + 280 + TITLE_FONT_SIZE + 90, rect.width - 500, BODY_FONT_SIZE * 3) - gui_text_box(desc_rect, "Before we get on the road, let's finish installation and cover some details.", BODY_FONT_SIZE) + self._getting_started_title_label.render(rl.Rectangle(rect.x + 165, rect.y + 280, rect.width - 265, TITLE_FONT_SIZE)) + self._getting_started_body_label.render(rl.Rectangle(rect.x + 165, rect.y + 280 + TITLE_FONT_SIZE, rect.width - 500, BODY_FONT_SIZE * 3)) btn_rect = rl.Rectangle(rect.width - NEXT_BUTTON_WIDTH, 0, NEXT_BUTTON_WIDTH, rect.height) - self._getting_started_button.render(btn_rect) triangle = gui_app.texture("images/button_continue_triangle.png", 54, int(btn_rect.height)) rl.draw_texture_v(triangle, rl.Vector2(btn_rect.x + btn_rect.width / 2 - triangle.width / 2, btn_rect.height / 2 - triangle.height / 2), rl.WHITE) @@ -198,8 +208,7 @@ class Setup(Widget): self.network_check_thread.join() def render_network_setup(self, rect: rl.Rectangle): - title_rect = rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE) - gui_label(title_rect, "Connect to Wi-Fi", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM) + self._network_setup_title_label.render(rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE)) wifi_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE + MARGIN + 25, rect.width - MARGIN * 2, rect.height - TITLE_FONT_SIZE - 25 - BUTTON_HEIGHT - MARGIN * 3) @@ -220,8 +229,7 @@ class Setup(Widget): self._network_setup_continue_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT)) def render_software_selection(self, rect: rl.Rectangle): - title_rect = rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE) - gui_label(title_rect, "Choose Software to Use", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM) + self._software_selection_title_label.render(rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE)) radio_height = 230 radio_spacing = 30 @@ -249,19 +257,15 @@ class Setup(Widget): self._software_selection_continue_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT)) def render_downloading(self, rect: rl.Rectangle): - title_rect = rl.Rectangle(rect.x, rect.y + rect.height / 2 - TITLE_FONT_SIZE / 2, rect.width, TITLE_FONT_SIZE) - gui_label(title_rect, "Downloading...", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) + self._downloading_body_label.render(rl.Rectangle(rect.x, rect.y + rect.height / 2 - TITLE_FONT_SIZE / 2, rect.width, TITLE_FONT_SIZE)) def render_download_failed(self, rect: rl.Rectangle): - title_rect = rl.Rectangle(rect.x + 117, rect.y + 185, rect.width - 117, TITLE_FONT_SIZE) - gui_label(title_rect, "Download Failed", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM) + self._download_failed_title_label.render(rl.Rectangle(rect.x + 117, rect.y + 185, rect.width - 117, TITLE_FONT_SIZE)) + self._download_failed_url_label.set_text(self.failed_url) + self._download_failed_url_label.render(rl.Rectangle(rect.x + 117, rect.y + 185 + TITLE_FONT_SIZE + 67, rect.width - 117 - 100, 64)) - url_rect = rl.Rectangle(rect.x + 117, rect.y + 185 + TITLE_FONT_SIZE + 67, rect.width - 117 - 100, 64) - gui_label(url_rect, self.failed_url, 64, font_weight=FontWeight.NORMAL) - - error_rect = rl.Rectangle(rect.x + 117, rect.y + 185 + TITLE_FONT_SIZE + 67 + 64 + 48, - rect.width - 117 - 100, rect.height - 185 + TITLE_FONT_SIZE + 67 + 64 + 48 - BUTTON_HEIGHT - MARGIN * 2) - gui_text_box(error_rect, self.failed_reason, BODY_FONT_SIZE) + self._download_failed_body_label.set_text(self.failed_reason) + self._download_failed_body_label.render(rl.Rectangle(rect.x + 117, rect.y, rect.width - 117 - 100, rect.height)) button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2 button_y = rect.height - BUTTON_HEIGHT - MARGIN From 4bb5986c14aa66516524330201c48980b36de558 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 8 Aug 2025 19:57:20 -0700 Subject: [PATCH 100/107] setup: fix url for urllib (#35958) fix --- system/ui/setup.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/system/ui/setup.py b/system/ui/setup.py index 8ff6b6700..d675e868f 100755 --- a/system/ui/setup.py +++ b/system/ui/setup.py @@ -4,6 +4,7 @@ import re import threading import time import urllib.request +from urllib.parse import urlparse from enum import IntEnum import pyray as rl @@ -303,7 +304,9 @@ class Setup(Widget): if re.match("^([^/.]+)/([^/]+)$", url): url = f"https://installer.comma.ai/{url}" - self.download_url = url + parsed = urlparse(url, scheme='https') + self.download_url = (urlparse(f"https://{url}") if not parsed.netloc else parsed).geturl() + self.state = SetupState.DOWNLOADING self.download_thread = threading.Thread(target=self._download_thread, daemon=True) From 83f6843a4803b3c66cd0e9bbd55e6bc0e4d0b1ac Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 8 Aug 2025 20:07:33 -0700 Subject: [PATCH 101/107] ci: run all unit tests (#35959) * more please * back --- .github/workflows/selfdrive_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index c4dfebd99..fb082ae40 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -163,7 +163,7 @@ jobs: run: | ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ $PYTEST --collect-only -m 'not slow' &> /dev/null && \ - PYTHONTRACEMALLOC=1 MAX_EXAMPLES=1 $PYTEST -m 'not slow' -k test_raylib_ui && \ + MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ chmod -R 777 /tmp/comma_download_cache" From 63d8c6c7f76200fe47e82caf53d21458b0d8cf54 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 8 Aug 2025 22:50:35 -0700 Subject: [PATCH 102/107] ui: adapt InputBox to new touch api (#35962) new --- system/ui/widgets/inputbox.py | 44 +++++++++++++++-------------------- 1 file changed, 19 insertions(+), 25 deletions(-) diff --git a/system/ui/widgets/inputbox.py b/system/ui/widgets/inputbox.py index 65428479b..239d63037 100644 --- a/system/ui/widgets/inputbox.py +++ b/system/ui/widgets/inputbox.py @@ -1,6 +1,6 @@ import pyray as rl import time -from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.application import gui_app, MousePos from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.widgets import Widget @@ -107,9 +107,6 @@ class InputBox(Widget): self._visible_width = rect.width self._font_size = font_size - # Handle mouse input - self._handle_mouse_input(rect, font_size) - # Draw input box rl.draw_rectangle_rec(rect, color) @@ -169,30 +166,27 @@ class InputBox(Widget): return masked_text - def _handle_mouse_input(self, rect, font_size): - """Handle mouse clicks to position cursor.""" - mouse_pos = rl.get_mouse_position() - if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT) and rl.check_collision_point_rec(mouse_pos, rect): - # Calculate cursor position from click - if len(self._input_text) > 0: - font = gui_app.font() - display_text = self._get_display_text() + def _handle_mouse_release(self, mouse_pos: MousePos): + # Calculate cursor position from click + if len(self._input_text) > 0: + font = gui_app.font() + display_text = self._get_display_text() - # Find the closest character position to the click - relative_x = mouse_pos.x - (rect.x + 10) + self._text_offset - best_pos = 0 - min_distance = float('inf') + # Find the closest character position to the click + relative_x = mouse_pos.x - (self._rect.x + 10) + self._text_offset + best_pos = 0 + min_distance = float('inf') - for i in range(len(self._input_text) + 1): - char_width = measure_text_cached(font, display_text[:i], font_size).x - distance = abs(relative_x - char_width) - if distance < min_distance: - min_distance = distance - best_pos = i + for i in range(len(self._input_text) + 1): + char_width = measure_text_cached(font, display_text[:i], self._font_size).x + distance = abs(relative_x - char_width) + if distance < min_distance: + min_distance = distance + best_pos = i - self.set_cursor_position(best_pos) - else: - self.set_cursor_position(0) + self.set_cursor_position(best_pos) + else: + self.set_cursor_position(0) def _handle_keyboard_input(self): # Handle navigation keys From e0f51bdbb604f1806bdda04e36458071e8e59a18 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 8 Aug 2025 23:42:54 -0700 Subject: [PATCH 103/107] Reapply "LogReader: wrap events to cache which() (#35882)" (#35909) * Reapply "LogReader: wrap events to cache which() (#35882)" This reverts commit ba2dced54ce2a4fec33565e13f15b610cc8a8b00. * fix lr * speed up * clean up * more * should be fast * clean up * only supports Event * rmrmr * bye * simple * gix --- tools/lib/logreader.py | 42 ++++++++++++++++++++++++++++++++++++++++-- 1 file changed, 40 insertions(+), 2 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 5915f1dde..cc84c8b52 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -49,8 +49,46 @@ def decompress_stream(data: bytes): return decompressed_data + +class CachedEventReader: + __slots__ = ('_evt', '_enum') + + def __init__(self, evt: capnp._DynamicStructReader, _enum: str | None = None): + """All capnp attribute accesses are expensive, and which() is often called multiple times""" + self._evt = evt + self._enum: str | None = _enum + + # fast pickle support + def __reduce__(self): + return CachedEventReader._reducer, (self._evt.as_builder().to_bytes(), self._enum) + + @staticmethod + def _reducer(data: bytes, _enum: str | None = None): + with capnp_log.Event.from_bytes(data) as evt: + return CachedEventReader(evt, _enum) + + def __repr__(self): + return self._evt.__repr__() + + def __str__(self): + return self._evt.__str__() + + def __dir__(self): + return dir(self._evt) + + def which(self) -> str: + if self._enum is None: + self._enum = self._evt.which() + return self._enum + + def __getattr__(self, name: str): + if name.startswith("__") and name.endswith("__"): + return getattr(self, name) + return getattr(self._evt, name) + + class _LogFileReader: - def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=False, dat=None): + def __init__(self, fn, only_union_types=False, sort_by_time=False, dat=None): self.data_version = None self._only_union_types = only_union_types @@ -75,7 +113,7 @@ class _LogFileReader: self._ents = [] try: for e in ents: - self._ents.append(e) + self._ents.append(CachedEventReader(e)) except capnp.KjException: warnings.warn("Corrupted events detected", RuntimeWarning, stacklevel=1) From 5339a89e8160f02d1e41193c466bff7d89b8e630 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Sat, 9 Aug 2025 12:19:52 -0700 Subject: [PATCH 104/107] [bot] Update Python packages (#35964) Update Python packages Co-authored-by: Vehicle Researcher --- docs/CARS.md | 3 +- opendbc_repo | 2 +- panda | 2 +- tinygrad_repo | 2 +- uv.lock | 110 ++++++++++++++++++++++++-------------------------- 5 files changed, 58 insertions(+), 61 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index d6107b726..a0a4fd6bd 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 313 Supported Cars +# 314 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video|Setup Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -72,6 +72,7 @@ A supported vehicle is one that just works when you install a comma device. All |Genesis|GV80 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|Accord 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[5](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| diff --git a/opendbc_repo b/opendbc_repo index adb600164..cea3fb692 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit adb6001649c0cc022873739187652b0014483dd3 +Subproject commit cea3fb692eb629b873e86450a786bcd2121352e9 diff --git a/panda b/panda index c2723b2f6..5b0f1a2ec 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit c2723b2f6bcce7e2d97f685db1ec2472a8dd28f5 +Subproject commit 5b0f1a2eca710121ef7573f1d183d4bc6c07b6ec diff --git a/tinygrad_repo b/tinygrad_repo index 06af9f923..14f99ff1a 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 06af9f9236b33419f89ef3b3a5ba4cce0adecc2d +Subproject commit 14f99ff1a16aeb20e9e7b7bf4101002bc9fef737 diff --git a/uv.lock b/uv.lock index dc016a0d3..f1749bd9b 100644 --- a/uv.lock +++ b/uv.lock @@ -166,7 +166,7 @@ wheels = [ [[package]] name = "azure-identity" -version = "1.23.1" +version = "1.24.0" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = 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"2025-07-15T19:16:40.184Z" }, + { url = "https://files.pythonhosted.org/packages/a9/74/17428cb429e8d52f6d0d69ed685f4760a545cb0156594963a9337b53b6c9/azure_identity-1.24.0-py3-none-any.whl", hash = "sha256:9e04997cde0ab02ed66422c74748548e620b7b29361c72ce622acab0267ff7c4", size = 187890, upload-time = "2025-08-07T22:27:38.033Z" }, ] [[package]] @@ -263,37 +263,33 @@ wheels = [ [[package]] name = "charset-normalizer" -version = "3.4.2" +version = "3.4.3" source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/e4/33/89c2ced2b67d1c2a61c19c6751aa8902d46ce3dacb23600a283619f5a12d/charset_normalizer-3.4.2.tar.gz", hash = "sha256:5baececa9ecba31eff645232d59845c07aa030f0c81ee70184a90d35099a0e63", size = 126367, upload-time = "2025-05-02T08:34:42.01Z" } +sdist = { url = "https://files.pythonhosted.org/packages/83/2d/5fd176ceb9b2fc619e63405525573493ca23441330fcdaee6bef9460e924/charset_normalizer-3.4.3.tar.gz", hash = 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14 ++++++++++++-- selfdrive/ui/translations/main_pt-BR.ts | 14 ++++++++++++-- selfdrive/ui/translations/main_th.ts | 12 +++++++++++- selfdrive/ui/translations/main_tr.ts | 12 +++++++++++- selfdrive/ui/translations/main_zh-CHS.ts | 12 +++++++++++- selfdrive/ui/translations/main_zh-CHT.ts | 12 +++++++++++- 11 files changed, 124 insertions(+), 14 deletions(-) diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 7d3d9edd0..eac3b561f 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -507,7 +507,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp تأخير التحديث - openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support. + openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. @@ -1157,6 +1157,16 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. + + Record Audio Feedback with LKAS button + + + + Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. + +Note that this feature is only compatible with select cars. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 3489b4860..b91c0e23c 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -499,7 +499,7 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere Update pausieren - openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support. + openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. @@ -1139,6 +1139,16 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. + + Record Audio Feedback with LKAS button + + + + Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. + +Note that this feature is only compatible with select cars. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index 5807accb9..79b10f316 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -503,7 +503,7 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para Posponer Actualización - openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support. + openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. @@ -1143,6 +1143,16 @@ Si desea continuar, utilice https://flash.comma.ai para restaurar su dispositivo Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. Graba y almacena el audio del micrófono mientras conduces. El audio se incluirá en el video de la cámara del tablero en comma connect. + + Record Audio Feedback with LKAS button + + + + Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. + +Note that this feature is only compatible with select cars. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index ba1eb93b3..a4effb2a4 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -497,7 +497,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Reporter la mise à jour - openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support. + openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. @@ -1135,6 +1135,16 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. + + Record Audio Feedback with LKAS button + + + + Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. + +Note that this feature is only compatible with select cars. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index fea6e51c0..8d0b2cb75 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -501,8 +501,8 @@ Firehoseモードを有効にすると学習データを最大限アップロー また後で更新する - openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support. - openpilotが過剰な%1の作動を検出しました。ソフトウェアの不具合の可能性があります。https://comma.ai/support からサポートへご連絡下さい。 + openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. + @@ -1138,6 +1138,16 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. 運転中にマイク音声を録音・保存します。音声は comma connect のドライブレコーダー映像に含まれます。 + + Record Audio Feedback with LKAS button + + + + Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. + +Note that this feature is only compatible with select cars. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index aaefdb92b..3cffab10b 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -501,8 +501,8 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 업데이트 일시 중지 - openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support. - 오픈파일럿은 과도한 %1 작동을 감지했습니다. 소프트웨어 버그 때문일 수 있습니다. https://comma.ai/support 에 문의하여 지원받으세요. + openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. + @@ -1138,6 +1138,16 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. 운전 중에 마이크 오디오를 녹음하고 저장하십시오. 오디오는 comma connect의 대시캠 비디오에 포함됩니다. + + Record Audio Feedback with LKAS button + + + + Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. + +Note that this feature is only compatible with select cars. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 976fc711d..e16872c75 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -503,8 +503,8 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar Adiar Atualização - openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support. - O openpilot detectou uma atuação excessiva de %1. Isso pode ser causado por uma falha no software. Por favor, entre em contato com o suporte em https://comma.ai/support. + openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. + @@ -1143,6 +1143,16 @@ Se quiser continuar, use https://flash.comma.ai para restaurar seu dispositivo a Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. Grave e armazene o áudio do microfone enquanto estiver dirigindo. O áudio será incluído ao vídeo dashcam no comma connect. + + Record Audio Feedback with LKAS button + + + + Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. + +Note that this feature is only compatible with select cars. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 3821b3b80..87cb8bc2e 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -497,7 +497,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp เลื่อนการอัปเดต - openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support. + openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. @@ -1132,6 +1132,16 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. + + Record Audio Feedback with LKAS button + + + + Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. + +Note that this feature is only compatible with select cars. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 6cafb1dff..6112698e3 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -494,7 +494,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Güncellemeyi sessize al - openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support. + openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. @@ -1129,6 +1129,16 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. + + Record Audio Feedback with LKAS button + + + + Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. + +Note that this feature is only compatible with select cars. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 5e5b9da31..a1d160237 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -501,7 +501,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 暂停更新 - openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support. + openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. @@ -1138,6 +1138,16 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. 在驾驶时录制并存储麦克风音频。该音频将会包含在 comma connect 的行车记录仪视频中。 + + Record Audio Feedback with LKAS button + + + + Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. + +Note that this feature is only compatible with select cars. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 630dbf2a0..a094dd418 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -501,7 +501,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 暫停更新 - openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support. + openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. @@ -1138,6 +1138,16 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. 在駕駛時錄製並儲存麥克風音訊。此音訊將會收錄在 comma connect 的行車記錄器影片中。 + + Record Audio Feedback with LKAS button + + + + Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. + +Note that this feature is only compatible with select cars. + + WiFiPromptWidget From 2d8030de0b5171fa5827a33be5a3033eb55e5d04 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 9 Aug 2025 15:00:36 -0700 Subject: [PATCH 106/107] ui: move watch3 to raylib (#35967) * move to py * cleaner * clean that up --- selfdrive/ui/SConscript | 4 ---- selfdrive/ui/onroad/cameraview.py | 20 +++++++------------ selfdrive/ui/watch3.cc | 33 ------------------------------- selfdrive/ui/watch3.py | 17 ++++++++++++++++ 4 files changed, 24 insertions(+), 50 deletions(-) delete mode 100644 selfdrive/ui/watch3.cc create mode 100755 selfdrive/ui/watch3.py diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 9d59e2bd4..f1ef0402c 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -102,7 +102,3 @@ if GetOption('extras'): f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter], LIBS=raylib_libs) # keep installers small assert f[0].get_size() < 1900*1e3, f[0].get_size() - -# build watch3 -if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'): - qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'msgq', 'visionipc']) diff --git a/selfdrive/ui/onroad/cameraview.py b/selfdrive/ui/onroad/cameraview.py index cc2c6b4fe..ca031e2f1 100644 --- a/selfdrive/ui/onroad/cameraview.py +++ b/selfdrive/ui/onroad/cameraview.py @@ -141,6 +141,9 @@ class CameraView(Widget): self.client = None + def __del__(self): + self.close() + def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray: if not self.frame: return np.eye(3) @@ -337,16 +340,7 @@ class CameraView(Widget): if __name__ == "__main__": - gui_app.init_window("watch3") - road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD) - driver_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER) - wide_road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD) - try: - for _ in gui_app.render(): - road_camera_view.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2)) - driver_camera_view.render(rl.Rectangle(0, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2)) - wide_road_camera_view.render(rl.Rectangle(gui_app.width // 2, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2)) - finally: - road_camera_view.close() - driver_camera_view.close() - wide_road_camera_view.close() + gui_app.init_window("camera view") + road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD) + for _ in gui_app.render(): + road.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc deleted file mode 100644 index 258e2a7bd..000000000 --- a/selfdrive/ui/watch3.cc +++ /dev/null @@ -1,33 +0,0 @@ -#include -#include - -#include "selfdrive/ui/qt/qt_window.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/widgets/cameraview.h" - -int main(int argc, char *argv[]) { - initApp(argc, argv); - - QApplication a(argc, argv); - QWidget w; - setMainWindow(&w); - - QVBoxLayout *layout = new QVBoxLayout(&w); - layout->setMargin(0); - layout->setSpacing(0); - - { - QHBoxLayout *hlayout = new QHBoxLayout(); - layout->addLayout(hlayout); - hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD)); - } - - { - QHBoxLayout *hlayout = new QHBoxLayout(); - layout->addLayout(hlayout); - hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER)); - hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD)); - } - - return a.exec(); -} diff --git a/selfdrive/ui/watch3.py b/selfdrive/ui/watch3.py new file mode 100755 index 000000000..bb64cdc4d --- /dev/null +++ b/selfdrive/ui/watch3.py @@ -0,0 +1,17 @@ +#!/usr/bin/env python3 +import pyray as rl + +from msgq.visionipc import VisionStreamType +from openpilot.system.ui.lib.application import gui_app +from openpilot.selfdrive.ui.onroad.cameraview import CameraView + + +if __name__ == "__main__": + gui_app.init_window("watch3") + road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD) + driver = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER) + wide = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD) + for _ in gui_app.render(): + road.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2)) + driver.render(rl.Rectangle(0, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2)) + wide.render(rl.Rectangle(gui_app.width // 2, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2)) From 1c46640ea6ac2e3f9d0388b405280f0d67183138 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 9 Aug 2025 15:04:26 -0700 Subject: [PATCH 107/107] Remove more Qt, part 2 (#35968) --- selfdrive/ui/SConscript | 8 +- selfdrive/ui/qt/python_helpers.py | 23 -- selfdrive/ui/qt/setup/setup.cc | 541 ------------------------------ selfdrive/ui/qt/setup/setup.h | 38 --- 4 files changed, 1 insertion(+), 609 deletions(-) delete mode 100644 selfdrive/ui/qt/python_helpers.py delete mode 100644 selfdrive/ui/qt/setup/setup.cc delete mode 100644 selfdrive/ui/qt/setup/setup.h diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index f1ef0402c..ba9fa8b7a 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -63,14 +63,8 @@ if GetOption('extras'): qt_src.remove("main.cc") # replaced by test_runner qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs) - qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs) - - # setup - qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj], - LIBS=qt_libs + ['curl', 'common']) - + # build installers if arch != "Darwin": - # build installers raylib_env = env.Clone() raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/'] raylib_env['LINKFLAGS'].append('-Wl,-strip-debug') diff --git a/selfdrive/ui/qt/python_helpers.py b/selfdrive/ui/qt/python_helpers.py deleted file mode 100644 index 1f6d43f30..000000000 --- a/selfdrive/ui/qt/python_helpers.py +++ /dev/null @@ -1,23 +0,0 @@ -import os -import platform -from cffi import FFI - -import sip - -from openpilot.common.basedir import BASEDIR - -def suffix(): - return ".dylib" if platform.system() == "Darwin" else ".so" - - -def get_ffi(): - lib = os.path.join(BASEDIR, "selfdrive", "ui", "qt", "libpython_helpers" + suffix()) - - ffi = FFI() - ffi.cdef("void set_main_window(void *w);") - return ffi, ffi.dlopen(lib) - - -def set_main_window(widget): - ffi, lib = get_ffi() - lib.set_main_window(ffi.cast('void*', sip.unwrapinstance(widget))) diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc deleted file mode 100644 index 38955bf59..000000000 --- a/selfdrive/ui/qt/setup/setup.cc +++ /dev/null @@ -1,541 +0,0 @@ -#include "selfdrive/ui/qt/setup/setup.h" - -#include -#include -#include -#include - -#include -#include -#include - -#include - -#include "common/util.h" -#include "system/hardware/hw.h" -#include "selfdrive/ui/qt/api.h" -#include "selfdrive/ui/qt/qt_window.h" -#include "selfdrive/ui/qt/network/networking.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/widgets/input.h" - -const std::string USER_AGENT = "AGNOSSetup-"; -const QString OPENPILOT_URL = "https://openpilot.comma.ai"; - -bool is_elf(char *fname) { - FILE *fp = fopen(fname, "rb"); - if (fp == NULL) { - return false; - } - char buf[4]; - size_t n = fread(buf, 1, 4, fp); - fclose(fp); - return n == 4 && buf[0] == 0x7f && buf[1] == 'E' && buf[2] == 'L' && buf[3] == 'F'; -} - -void Setup::download(QString url) { - // autocomplete incomplete urls - if (QRegularExpression("^([^/.]+)/([^/]+)$").match(url).hasMatch()) { - url.prepend("https://installer.comma.ai/"); - } - - CURL *curl = curl_easy_init(); - if (!curl) { - emit finished(url, tr("Something went wrong. Reboot the device.")); - return; - } - - auto version = util::read_file("/VERSION"); - - struct curl_slist *list = NULL; - std::string header = "X-openpilot-serial: " + Hardware::get_serial(); - list = curl_slist_append(list, header.c_str()); - - char tmpfile[] = "/tmp/installer_XXXXXX"; - FILE *fp = fdopen(mkstemp(tmpfile), "wb"); - - curl_easy_setopt(curl, CURLOPT_URL, url.toStdString().c_str()); - curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, NULL); - curl_easy_setopt(curl, CURLOPT_WRITEDATA, fp); - curl_easy_setopt(curl, CURLOPT_VERBOSE, 1L); - curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L); - curl_easy_setopt(curl, CURLOPT_USERAGENT, (USER_AGENT + version).c_str()); - curl_easy_setopt(curl, CURLOPT_HTTPHEADER, list); - curl_easy_setopt(curl, CURLOPT_TIMEOUT, 30L); - - int ret = curl_easy_perform(curl); - long res_status = 0; - curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &res_status); - - if (ret != CURLE_OK || res_status != 200) { - emit finished(url, tr("Ensure the entered URL is valid, and the device’s internet connection is good.")); - } else if (!is_elf(tmpfile)) { - emit finished(url, tr("No custom software found at this URL.")); - } else { - rename(tmpfile, "/tmp/installer"); - - FILE *fp_url = fopen("/tmp/installer_url", "w"); - fprintf(fp_url, "%s", url.toStdString().c_str()); - fclose(fp_url); - - emit finished(url); - } - - curl_slist_free_all(list); - curl_easy_cleanup(curl); - fclose(fp); -} - -QWidget * Setup::low_voltage() { - QWidget *widget = new QWidget(); - QVBoxLayout *main_layout = new QVBoxLayout(widget); - main_layout->setContentsMargins(55, 0, 55, 55); - main_layout->setSpacing(0); - - // inner text layout: warning icon, title, and body - QVBoxLayout *inner_layout = new QVBoxLayout(); - inner_layout->setContentsMargins(110, 144, 365, 0); - main_layout->addLayout(inner_layout); - - QLabel *triangle = new QLabel(); - triangle->setPixmap(QPixmap(ASSET_PATH + "icons/warning.png")); - inner_layout->addWidget(triangle, 0, Qt::AlignTop | Qt::AlignLeft); - inner_layout->addSpacing(80); - - QLabel *title = new QLabel(tr("WARNING: Low Voltage")); - title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;"); - inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); - - inner_layout->addSpacing(25); - - QLabel *body = new QLabel(tr("Power your device in a car with a harness or proceed at your own risk.")); - body->setWordWrap(true); - body->setAlignment(Qt::AlignTop | Qt::AlignLeft); - body->setStyleSheet("font-size: 80px; font-weight: 300;"); - inner_layout->addWidget(body); - - inner_layout->addStretch(); - - // power off + continue buttons - QHBoxLayout *blayout = new QHBoxLayout(); - blayout->setSpacing(50); - main_layout->addLayout(blayout, 0); - - QPushButton *poweroff = new QPushButton(tr("Power off")); - poweroff->setObjectName("navBtn"); - blayout->addWidget(poweroff); - QObject::connect(poweroff, &QPushButton::clicked, this, [=]() { - Hardware::poweroff(); - }); - - QPushButton *cont = new QPushButton(tr("Continue")); - cont->setObjectName("navBtn"); - blayout->addWidget(cont); - QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage); - - return widget; -} - -QWidget * Setup::custom_software_warning() { - QWidget *widget = new QWidget(); - QVBoxLayout *main_layout = new QVBoxLayout(widget); - main_layout->setContentsMargins(55, 0, 55, 55); - main_layout->setSpacing(0); - - QVBoxLayout *inner_layout = new QVBoxLayout(); - inner_layout->setContentsMargins(110, 110, 300, 0); - main_layout->addLayout(inner_layout); - - QLabel *title = new QLabel(tr("WARNING: Custom Software")); - title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;"); - inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); - - inner_layout->addSpacing(25); - - QLabel *body = new QLabel(tr("Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.\n\nIf you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later.")); - body->setWordWrap(true); - body->setAlignment(Qt::AlignTop | Qt::AlignLeft); - body->setStyleSheet("font-size: 65px; font-weight: 300;"); - inner_layout->addWidget(body); - - inner_layout->addStretch(); - - QHBoxLayout *blayout = new QHBoxLayout(); - blayout->setSpacing(50); - main_layout->addLayout(blayout, 0); - - QPushButton *back = new QPushButton(tr("Back")); - back->setObjectName("navBtn"); - blayout->addWidget(back); - QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage); - - QPushButton *cont = new QPushButton(tr("Continue")); - cont->setObjectName("navBtn"); - blayout->addWidget(cont); - QObject::connect(cont, &QPushButton::clicked, this, [=]() { - QTimer::singleShot(0, [=]() { - setCurrentWidget(downloading_widget); - }); - QString url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software")); - if (!url.isEmpty()) { - QTimer::singleShot(1000, this, [=]() { - download(url); - }); - } else { - setCurrentWidget(software_selection_widget); - } - }); - - return widget; -} - -QWidget * Setup::getting_started() { - QWidget *widget = new QWidget(); - - QHBoxLayout *main_layout = new QHBoxLayout(widget); - main_layout->setMargin(0); - - QVBoxLayout *vlayout = new QVBoxLayout(); - vlayout->setContentsMargins(165, 280, 100, 0); - main_layout->addLayout(vlayout); - - QLabel *title = new QLabel(tr("Getting Started")); - title->setStyleSheet("font-size: 90px; font-weight: 500;"); - vlayout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); - - vlayout->addSpacing(90); - QLabel *desc = new QLabel(tr("Before we get on the road, let’s finish installation and cover some details.")); - desc->setWordWrap(true); - desc->setStyleSheet("font-size: 80px; font-weight: 300;"); - vlayout->addWidget(desc, 0, Qt::AlignTop | Qt::AlignLeft); - - vlayout->addStretch(); - - QPushButton *btn = new QPushButton(); - btn->setIcon(QIcon(":/images/button_continue_triangle.svg")); - btn->setIconSize(QSize(54, 106)); - btn->setFixedSize(310, 1080); - btn->setProperty("primary", true); - btn->setStyleSheet("border: none;"); - main_layout->addWidget(btn, 0, Qt::AlignRight); - QObject::connect(btn, &QPushButton::clicked, this, &Setup::nextPage); - - return widget; -} - -QWidget * Setup::network_setup() { - QWidget *widget = new QWidget(); - QVBoxLayout *main_layout = new QVBoxLayout(widget); - main_layout->setContentsMargins(55, 50, 55, 50); - - // title - QLabel *title = new QLabel(tr("Connect to Wi-Fi")); - title->setStyleSheet("font-size: 90px; font-weight: 500;"); - main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop); - - main_layout->addSpacing(25); - - // wifi widget - Networking *networking = new Networking(this, false); - networking->setStyleSheet("Networking {background-color: #292929; border-radius: 13px;}"); - main_layout->addWidget(networking, 1); - - main_layout->addSpacing(35); - - // back + continue buttons - QHBoxLayout *blayout = new QHBoxLayout; - main_layout->addLayout(blayout); - blayout->setSpacing(50); - - QPushButton *back = new QPushButton(tr("Back")); - back->setObjectName("navBtn"); - QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage); - blayout->addWidget(back); - - QPushButton *cont = new QPushButton(); - cont->setObjectName("navBtn"); - cont->setProperty("primary", true); - cont->setEnabled(false); - QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage); - blayout->addWidget(cont); - - // setup timer for testing internet connection - HttpRequest *request = new HttpRequest(this, false, 2500); - QObject::connect(request, &HttpRequest::requestDone, [=](const QString &, bool success) { - cont->setEnabled(success); - if (success) { - const bool wifi = networking->wifi->currentNetworkType() == NetworkType::WIFI; - cont->setText(wifi ? tr("Continue") : tr("Continue without Wi-Fi")); - } else { - cont->setText(tr("Waiting for internet")); - } - repaint(); - }); - request->sendRequest(OPENPILOT_URL); - QTimer *timer = new QTimer(this); - QObject::connect(timer, &QTimer::timeout, [=]() { - if (!request->active() && cont->isVisible()) { - request->sendRequest(OPENPILOT_URL); - } - }); - timer->start(1000); - - return widget; -} - -QWidget * radio_button(QString title, QButtonGroup *group) { - QPushButton *btn = new QPushButton(title); - btn->setCheckable(true); - group->addButton(btn); - btn->setStyleSheet(R"( - QPushButton { - height: 230; - padding-left: 100px; - padding-right: 100px; - text-align: left; - font-size: 80px; - font-weight: 400; - border-radius: 10px; - background-color: #4F4F4F; - } - QPushButton:checked { - background-color: #465BEA; - } - )"); - - // checkmark icon - QPixmap pix(":/icons/circled_check.svg"); - btn->setIcon(pix); - btn->setIconSize(QSize(0, 0)); - btn->setLayoutDirection(Qt::RightToLeft); - QObject::connect(btn, &QPushButton::toggled, [=](bool checked) { - btn->setIconSize(checked ? QSize(104, 104) : QSize(0, 0)); - }); - return btn; -} - -QWidget * Setup::software_selection() { - QWidget *widget = new QWidget(); - QVBoxLayout *main_layout = new QVBoxLayout(widget); - main_layout->setContentsMargins(55, 50, 55, 50); - main_layout->setSpacing(0); - - // title - QLabel *title = new QLabel(tr("Choose Software to Install")); - title->setStyleSheet("font-size: 90px; font-weight: 500;"); - main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop); - - main_layout->addSpacing(50); - - // openpilot + custom radio buttons - QButtonGroup *group = new QButtonGroup(widget); - group->setExclusive(true); - - QWidget *openpilot = radio_button(tr("openpilot"), group); - main_layout->addWidget(openpilot); - - main_layout->addSpacing(30); - - QWidget *custom = radio_button(tr("Custom Software"), group); - main_layout->addWidget(custom); - - main_layout->addStretch(); - - // back + continue buttons - QHBoxLayout *blayout = new QHBoxLayout; - main_layout->addLayout(blayout); - blayout->setSpacing(50); - - QPushButton *back = new QPushButton(tr("Back")); - back->setObjectName("navBtn"); - QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage); - blayout->addWidget(back); - - QPushButton *cont = new QPushButton(tr("Continue")); - cont->setObjectName("navBtn"); - cont->setEnabled(false); - cont->setProperty("primary", true); - blayout->addWidget(cont); - - QObject::connect(cont, &QPushButton::clicked, [=]() { - if (group->checkedButton() != openpilot) { - QTimer::singleShot(0, [=]() { - setCurrentWidget(custom_software_warning_widget); - }); - } else { - QTimer::singleShot(0, [=]() { - setCurrentWidget(downloading_widget); - }); - QTimer::singleShot(1000, this, [=]() { - download(OPENPILOT_URL); - }); - } - }); - - connect(group, QOverload::of(&QButtonGroup::buttonClicked), [=](QAbstractButton *btn) { - btn->setChecked(true); - cont->setEnabled(true); - }); - - return widget; -} - -QWidget * Setup::downloading() { - QWidget *widget = new QWidget(); - QVBoxLayout *main_layout = new QVBoxLayout(widget); - QLabel *txt = new QLabel(tr("Downloading...")); - txt->setStyleSheet("font-size: 90px; font-weight: 500;"); - main_layout->addWidget(txt, 0, Qt::AlignCenter); - return widget; -} - -QWidget * Setup::download_failed(QLabel *url, QLabel *body) { - QWidget *widget = new QWidget(); - QVBoxLayout *main_layout = new QVBoxLayout(widget); - main_layout->setContentsMargins(55, 185, 55, 55); - main_layout->setSpacing(0); - - QLabel *title = new QLabel(tr("Download Failed")); - title->setStyleSheet("font-size: 90px; font-weight: 500;"); - main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); - - main_layout->addSpacing(67); - - url->setWordWrap(true); - url->setAlignment(Qt::AlignTop | Qt::AlignLeft); - url->setStyleSheet("font-family: \"JetBrains Mono\"; font-size: 64px; font-weight: 400; margin-right: 100px;"); - main_layout->addWidget(url); - - main_layout->addSpacing(48); - - body->setWordWrap(true); - body->setAlignment(Qt::AlignTop | Qt::AlignLeft); - body->setStyleSheet("font-size: 80px; font-weight: 300; margin-right: 100px;"); - main_layout->addWidget(body); - - main_layout->addStretch(); - - // reboot + start over buttons - QHBoxLayout *blayout = new QHBoxLayout(); - blayout->setSpacing(50); - main_layout->addLayout(blayout, 0); - - QPushButton *reboot = new QPushButton(tr("Reboot device")); - reboot->setObjectName("navBtn"); - blayout->addWidget(reboot); - QObject::connect(reboot, &QPushButton::clicked, this, [=]() { - Hardware::reboot(); - }); - - QPushButton *restart = new QPushButton(tr("Start over")); - restart->setObjectName("navBtn"); - restart->setProperty("primary", true); - blayout->addWidget(restart); - QObject::connect(restart, &QPushButton::clicked, this, [=]() { - setCurrentIndex(1); - }); - - widget->setStyleSheet(R"( - QLabel { - margin-left: 117; - } - )"); - return widget; -} - -void Setup::prevPage() { - setCurrentIndex(currentIndex() - 1); -} - -void Setup::nextPage() { - setCurrentIndex(currentIndex() + 1); -} - -Setup::Setup(QWidget *parent) : QStackedWidget(parent) { - if (std::getenv("MULTILANG")) { - selectLanguage(); - } - - std::stringstream buffer; - buffer << std::ifstream("/sys/class/hwmon/hwmon1/in1_input").rdbuf(); - float voltage = (float)std::atoi(buffer.str().c_str()) / 1000.; - if (voltage < 7) { - addWidget(low_voltage()); - } - - addWidget(getting_started()); - addWidget(network_setup()); - software_selection_widget = software_selection(); - addWidget(software_selection_widget); - custom_software_warning_widget = custom_software_warning(); - addWidget(custom_software_warning_widget); - downloading_widget = downloading(); - addWidget(downloading_widget); - - QLabel *url_label = new QLabel(); - QLabel *body_label = new QLabel(); - failed_widget = download_failed(url_label, body_label); - addWidget(failed_widget); - - QObject::connect(this, &Setup::finished, [=](const QString &url, const QString &error) { - qDebug() << "finished" << url << error; - if (error.isEmpty()) { - // hide setup on success - QTimer::singleShot(3000, this, &QWidget::hide); - } else { - url_label->setText(url); - body_label->setText(error); - setCurrentWidget(failed_widget); - } - }); - - // TODO: revisit pressed bg color - setStyleSheet(R"( - * { - color: white; - font-family: Inter; - } - Setup { - background-color: black; - } - QPushButton#navBtn { - height: 160; - font-size: 55px; - font-weight: 400; - border-radius: 10px; - background-color: #333333; - } - QPushButton#navBtn:disabled, QPushButton[primary='true']:disabled { - color: #808080; - background-color: #333333; - } - QPushButton#navBtn:pressed { - background-color: #444444; - } - QPushButton[primary='true'], #navBtn[primary='true'] { - background-color: #465BEA; - } - QPushButton[primary='true']:pressed, #navBtn:pressed[primary='true'] { - background-color: #3049F4; - } - )"); -} - -void Setup::selectLanguage() { - QMap langs = getSupportedLanguages(); - QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), "", this); - if (!selection.isEmpty()) { - QString selectedLang = langs[selection]; - Params().put("LanguageSetting", selectedLang.toStdString()); - if (translator.load(":/" + selectedLang)) { - qApp->installTranslator(&translator); - } - } -} - -int main(int argc, char *argv[]) { - QApplication a(argc, argv); - Setup setup; - setMainWindow(&setup); - return a.exec(); -} diff --git a/selfdrive/ui/qt/setup/setup.h b/selfdrive/ui/qt/setup/setup.h deleted file mode 100644 index 986956c90..000000000 --- a/selfdrive/ui/qt/setup/setup.h +++ /dev/null @@ -1,38 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include - -class Setup : public QStackedWidget { - Q_OBJECT - -public: - explicit Setup(QWidget *parent = 0); - -private: - void selectLanguage(); - QWidget *low_voltage(); - QWidget *custom_software_warning(); - QWidget *getting_started(); - QWidget *network_setup(); - QWidget *software_selection(); - QWidget *downloading(); - QWidget *download_failed(QLabel *url, QLabel *body); - - QWidget *failed_widget; - QWidget *downloading_widget; - QWidget *custom_software_warning_widget; - QWidget *software_selection_widget; - QTranslator translator; - -signals: - void finished(const QString &url, const QString &error = ""); - -public slots: - void nextPage(); - void prevPage(); - void download(QString url); -};